1. ROS Visualisierung! 
rosrun rviz rviz
in Rviz bei Fixed Frame leftUpperArm eintragen
dann add Marker
roslaunch bp1human bp1human.launch
start visualization with roslaunch...
visualization of 2 synchronized sensors
(roslaunch bp1human bp1human.launch)
new sensor data
Command um urdf file in rviz zu betrachten:
roslaunch bp1human  display.launch model:=urdf/arm.urdf
marker and tf in rviz
read from sensor
Updated arm.urdf:
- now movevable with limits close to human angels in elbow
- underarm rotates around the elbow
- upperarm is fix

Problems:
- rviz doe not show any geometry; links are represented ans cylinders in
urdf
- test it with the following line: 
	roslaunch "package name" display.launch model:=urdf/arm.urdf 
		*navigate to an existing package 
		*display.launch needed (-> see Google Drive)

To-Do:
- feed the model with data
urdfs & marker in rviz
record data via commandline
roslaunch bp1human bp1human.launch record:=[name]
separate (simple textfile)-recording and visualize commands:

record data (without sensors)
roslaunch bp1human bp1human.launch record:=true title:=[myRecording]
playback and visualize recording
roslaunch bp1human bp1human.launch play:=true title:=[myRecording]

+ 2 sensors
code documentation + new commands:
record data:
roslaunch bp1human bp1human.launch rec:=1 title:=test
play your record and view it (gui:=1 can cause a rviz crash)
roslaunch bp1human bp1human.launch play:=1 viz:=1 gui:=0 title:=test
human -> arm
myRecord recordings
launchfile change
error
Merge branch 'master' of https://github.com/hReinemuth/bp1human.git

Conflicts:
	src/pubNode.cpp
read from sensor