Updates messages to implement pub/sub interface.
Updated Kalman filter classname.
Bug Fix for Publishing to no subscriber

Before, MessageServer would crash if a message was published to a
topic without a subscriber. Now, it won't!
Updated robot.java style, add SimRobot.java

Added SimRobot, the beginnings of our stub/simulation interface.
Also added Fake Arduino sensor/node.
Sensor Interfaces now use pubsub and the sad Robot singleton
Removed Robot singleton references

These should be migrated to use pubsub.