Added a service to get the stairs algorithm parameters.
Added an action to climb stairs.

Changed the effort limit of the gripper servos.
Solved a problem in the collision detection.

Added conditional support for the smart charger module. A set of variables in the control configuration file contro, its operation.
The set/get smart charger config are not yet implemented.

Added a subscriber of the desired leds states to the driver node.
Added a client package to control the state of the leds with the real robot.
Added a subscriber of the desired leds states to the simulation model.
Added a package to generate the state of the buttons in simulation.

Changed the sign of the Y axis gyroscope in the simulated robot to make it coincide with the readl robot.

Chnaged the IMU access for the balance compensation due to chnages in the hector_gazebo_plugin package.

Used the manager_servos structure instead of the manager_current_angles vector to take into account the balance offsets.
Added the gyroscope calibration value to the returned data of the simulated imu.

Added the ROS interfaces for the joint_motion and head_tracking modules. Added also two launch files in the darwin_apps package.
Added a simulated IMU. Balance is still not ready.
Changed the control period of the simulated model to 0.001s.
Updated the parameters of the dynamic model of the robot to improve its behavior.

Changed the servo names to the ones used in the bioloid robot.
Changed the gains of the joints.
Added an application to control and tune the walking algorithm.

Added the headtracking module.
Added the joint motion module.
Added the motion manager module.
Modified the action adn walk modules.

Solved a problem in the urdf model.
Implemented a simple state machine to execute actions and walk.

Firts version of the robot walking on simulation.

Changes the control configuration to use the new darwin_controller.