Added safety check for when controller goes offline. Also added joystick enabled override of controller
The check for the date of last received desired_cmd_vel is now performed only if the robot was previously moving
When an emergency stop is issued for a very close object, the robot will now continue to monitor the obstacle and if the scans report no obstacles for N seconds then the movement will resume
Fixed typo
Merge pull request #2 from enoonIT/master

Added safety check for when controller goes offline. Also added joystick...