Merge branch 'master' into 'kinetic_migration'

# Conflicts:
#   src/safe_cmd_alg_node.cpp

src/safe_cmd_alg_node.cpp

@@ -14,8 +14,7 @@ SafeCmdAlgNode::SafeCmdAlgNode(void) :
   tf_listener_(ros::Duration(10.f))
 {
   //init class attributes if necessary
-  double loop_rate = 30;//in [Hz]
-  this->setRate(loop_rate);
+  this->setRate(30);//in [Hz]
 
   // [init publishers]
   cmd_vel_safe_publisher_ = public_node_handle_.advertise<geometry_msgs::Twist>("cmd_vel_safe", 100);