Added the dyn_master_start_read_table() and dyn_master_wait_read_table() functions needed by the new expansion board loop function.

Changed the background color of the tags from grey to white. This imporves the detection rate of the algorithms.

Changed the angle range and motion limits of the emmulated dynamixel servos to coincide with the real ones.

modified ceabot_motion files, now ceabot_motions=ceabot_motions_real works for real robot, ceabot_motions_sim works in simulated environment

Solved a bug in the one time user time function. It now works as expected instead of always being active.

Used the low resolution model for the basic Bioloid CEABOT robot.

The obstacles can now be moved by the robot.

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.