merge #116, with minor changes
merge #116, with minor changes

scpeters/catkin,jack-oquin/catkin,wkentaro/catkin,harmishhk/catkin,harmishhk/catkin,shyamalschandra/catkin,harmishhk/catkin,ros/catkin,asmodehn/catkin,meyerj/catkin,ros/catkin,wkentaro/catkin,beni55/catkin,meyerj/catkin,beni55/catkin,beni55/catkin,asmodehn/catkin,jack-oquin/catkin,ros/catkin,scpeters/catkin,shyamalschandra/catkin,thaddeustaylor/catkin,wkentaro/catkin,meyerj/catkin,thaddeustaylor/catkin,asmodehn/catkin,thaddeustaylor/catkin,scpeters/catkin,shyamalschandra/catkin,jack-oquin/catkin