Merge pull request #109 from ayrton04/indigo-devel

Merging UKF addition
Updating changelog prior to release of 2.1.6
Updating changelog prior to release of 2.1.6
2.1.6
Merge pull request #117 from ayrton04/indigo-devel

Merging changes from ayrton04's repo
Merging changes from ayrton04's fork
Merge pull request #132 from ayrton04/indigo-devel

Fixing issue #128
Merge pull request #134 from ayrton04/indigo-devel

Some major changes (largely organizational) to fix some issues with mixi...
Merge pull request #140 from ayrton04/indigo-devel

Adding failure callbacks for tf message filters
Merge pull request #144 from ayrton04/indigo-devel

Fixing arguments in TFtoState method
Merge pull request #148 from ayrton04/indigo-devel

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