in the move_abolute_angle and move_relative_angle functions, configured the speed and current before the target position.

Used the velocity profile register to control the moving speed in the position/current control mode.

Modified the code to use this new functions.

Added the registers for the new XC,XM and XH families.

Modified the necessary files to save the headers, the library and all the related files on the subdirectory iri/<package_name>
Add plural _INCLUDE_DIRS and _LIBRARIES find cmake variables.
Add .gitignore file to ignore bin, build and lib directories

In the stop() function, if the current position is beyond the software position limits, the limits are loaded instead of the current position. Both in the dynamixel_motor and the dynamixel_motor_group moudles.

Saturated the speed, angle and torque in the move_absolute(), move_relative() and move_torque() functions.

Solved a bug in the set_punch() function: the register address was written instead of the actual value.
Chnaged the control mode depending on the parameters of the set_position_range() function.