Merge pull request #8 from ipa-fmw/groovy_dev

added checks for ROS parameters
Merge branch 'groovy_dev' of https://github.com/ipa320/ipa_canopen into groovy_dev
Fixes bug described by @kalectro
Fixing author name
Merge pull request #26 from thiagodefreitas/groovy_dev

Positions and Velocities swapped