Changed the name of the TServoInfo structure to TServoData to avoid conflicts in the gazebo CM510 simulator.
Problems when the motion file does not exists or is invaid. It needs to be checked before calling the parser function.

Solved a bug in the calculation of the speed rate. The values must be coded in fixed point float format 3|5.

Added a new robotis tool to downlaod motion files to the controllers (CM510 for now).