Merge pull request #6 from thiagodefreitas/indigo_dev

updates from tdf
Merge pull request #18 from thiagodefreitas/indigo_dev

Sync changes with the 320
add missing dep
Merge pull request #19 from ipa-fmw/indigo_dev

add missing dep to joint_limits_interface
Merge branch 'indigo_dev' of github.com:ipa320/ros_canopen into indigo_dev
Merge branch 'indigo_dev' of https://github.com/ipa-mdl/ros_canopen into indigo_dev
Some organization on code