Integrated the use of the pan&tilt unit in all CEABOT launch files.
Added the urdf, xacro and gazebo files for the IDS XS camera.
TEmporal chnages to try to redirect the printf output to a virtual serial device.

Inverted the output levels of the GPIO to match the data from the real feet sensors.

Substituted the servo PID's controllers for compliance controllers, more similar to the real servos.
The walk timeout is updated each time a new cmd_vel is received, whatever the current state.

Reduced the friction on the feet.

Changed the PID controller of the servos with a compliance controller similar to the one in the real servos.
Changed the control period of the simulated model to 0.001s instead of 0.0078s.
Modified the up and down stairs motions.
Updted the stairs environment to use standard box instead of the stl model.

Changes to be able to use a different robot by providing its name.
Chnages to allow the obstacles to move freely. Still not working.

Solved a problem with the detection of the rising edge of the start button. It was only etected the first time.
Changed the sign og the compass value to make it coincide with the real robot sensor.

Changes in the dynamic parameters of the robot to allow most of the motions to work properly. Lateral movements are not yet working.

Changed the simulation parameters (max joint speed and torque) to improve the simulation. (They do not coincide with the real robot).
Reduced the minimum simulation step to improve the simulation.
Added a gazebo file for the bioloid_ceabot robot.

Added a new motions file with all the standard motion actions.

Added a new argument to simulation launch files to change the motion file used.
Added the inertia information to the staits STL file.

Added all the STL models and xacro and launch files for the challanges of the CEABOT robot competition, except for sumo.

Solved a problem when reading the data from the expansion board. It always returned 0.

Implemented the expansion board GPIO access to the simulator.

Added rviz and gazebo models for the feet sensors (support board and cny70 sensor).

Added specific config and launch files for the CM510 simulation.

Changed the name of the exp_board_sim module functions to solve undefined reference while linking.

Verified the operation of the fall detection and the state machine to get up.

Added the bioloid_controller_cm510 package to the metapackage package.xml file.

Removed the thread from the ADC module. It runs now at the main loop rate.
Used the dynamixel module from the firmware.