Merge

Contains basically msgs changes, to start ROS with teleop, and rviz with odometry and ultrasonic.
Also the complete old nxt_python is included(with unused stuff, bluesock gyro ... ).
As well as CMakes and manifests (mix-merged with catkin. Sorry! where single rosbuild before, not tested) 

Everything else is designed for my robot the nxt_sensor_car:
sensor- odom- and stick configuration in yaml and launchfiles with gyro as touch, usb_cam launch, lower sensor rates for RPi, etc. But this is the working launch file
Intensity is for monochrome sensor now.
Pick what you need and send me a pull request when catkin is running.
P.S: here are rviz plugin changes by someone: https://github.com/spotrh/nxt