Merge branch 'controller_update' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into controller_update

added student controller framework called CustomControllerService---hopefully now it actually pushes the file..

changed the function convertIntoBodyFrame(request, est, state, yaw_measured) such that it uses the measured yaw without considering the setpoint - eliminates the drifting problem but is probably still wrong regarding the controlling logic. Added an rqt-plot to the launch file.

supposedly fixed problem caused when multiple Cf-Objects are selected in Vicon. Plus some cosmetic changes

implemented Kalman filter as state estimator, but position is converging very slowly and causes oscillations in x, y and z direction

safecontroller works fine. still an issue with outYaw cause it overshoots - check comment in safecontroller code. safetycheck for localArea implemented and adjusted - switchoff if out of bounds.

Merge branch 'controller_update' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into controller_update

Merge branch 'controller_update' of https://gitlab.ethz.ch/D-FaLL/D-FaLL-System into controller_update

First compiling version with ros library inside GUI code. Now need to do something meaningful. MSG, shared folder with the rest of the team?

fixed CrazyRadio crash on shutdown, fixed RateCommand.msg (according to Dusan's code), removed timers from PPSClient, still fucking around with SafeControllerService