Fix for pepper falling over in gazebo 7 with kinetic #15
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…pid gazebo for mimic joints to stop pepper from falling over
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This fix takes care of removing issues with odometry as well as fixing the mimic_joint problem with gazebo versions earlier than 9 that causes pepper to topple over when starting with kinetic and gazebo7. PID values have been harshly tuned for a version that stays upright and works correctly with moveit config. Feel free to update the PID values in pepper_gazebo_controller.yaml should you find better values.