Previous commit made something to not work.. Reverted to a6c20a60 and added Debugging.msg, and two new launch files (propbably unfinished)

rosbag included. not working and creating error at startup. rest should however still run. safetycheck added again ... switches off and terminates ros when area boundaries are left

changes to CMakeList, Crazyflie.launch and CustomControllerService -- all concerning the CustomControllerService

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

added area and controlleroutput structs to PPSClient for testing; added CentralManagerService to launch file

Publishers and callbacks to send data to crazyradio.py added to PPSClient.pps; Crayzradio node added to ppsLaunch.launch; Subcriber added to Crazyradio.py which successfully subscribes to motorCommand even if no cf is connected.

studentParams.yaml added that will be used by students to change their crazyflie, etc

PPSClient.cpp changed: gets data from ViconDataPublisher and extracts data according the chosen crazyflie. TODO: connection with controller