First Prototype of Error Reporting System

  - Added Joystick error handling
  - Created Prototype for new error handling system
  - TODO: Logging to file
  - TODO: adopt other sub systems
Finished Prototype of Exception

  - Prototype of exception
  - Joystick Error finalized
  - Renamed JoyError to JoystickError
Added File Logger

  - Log class for logging into file
  - Prototypical integration into remote application
  - extension of config file
Merge branch 'master' into errorHandling
Small changes to Error Prototype

  - added cause getter
  - fixed includes
  - corrected error info tag names
Added MotorError

  - MotorError following error prototype
  - support for speed, rt, clock and sleep errors
  - integration into existing motor abstraction
Fixed compile issues
Added error log to ctrl
Added ServoError following error prototype

        - included ServoError in ctrl
Refactoring of CommError towards error prototype

        - removed CommError.cpp source file
        - adapted Makefile
        - changed CommSender and CommReceiver
        - TODO: check compilation
Update CommError
Updated throwing of exception in comm thread
Finished rework of CommError

        - Added CommError wrapper for boost::system_error
        - Fixed compile issues
        - Added Log file to config
Bug fixes:

  - missing log directory
  - inverted y-axis of gamepad
  - TODO configure gamepad parameters
Added portotype GUI code