Merge pull request #107 from ayrton04/jade-devel

Merging UKF addition
Merge pull request #115 from ayrton04/jade-devel

Merging changes from ayrton04's repo
Merge pull request #122 from ayrton04/jade-devel

Merging changes from ayrton04's repo
Merge pull request #131 from ayrton04/jade-devel

Fixing issue #128
Merge pull request #135 from ayrton04/jade-devel

Some major changes (largely organizational) to fix some issues with mixi...
Merge pull request #139 from ayrton04/jade-devel

Adding failure callbacks for tf message filters
Merge pull request #142 from ayrton04/jade-devel

Fixing arguments in TFtoState method
Merge pull request #147 from ayrton04/jade-devel

Fixing base EKF and UKF tests
Cherry picking outlier rejection changes from PR #146