merged from frcsim branch

verified to work on real robots
adds sim eclipse plugins, fixed JavaGazebo, made wpilibC++Sim build on windows
 - Java and C++ simulation robot programs run on windows
 - simulation eclipse plugin delivers models and gazebo plugins
 - Java Gazebo now respects GAZEBO_IP variables and can work across networks
 - hal and network tables win32 hacked to work on windows
 - smart dashboard broken on windows due to network tables hacks
 - wpilibC++Sim, gz_msgs, and frcsim_gazebo_plugins build with CMake
 - removed constexpr for cross platform compatibility
 - msgs generated using .protos as a part of build process
 - some spare and unused cmake/pom files deleted
 - simulation ubuntu debians removed entirely
 - refactored CMake project flags and macros
 - updated to match non-sim C++ API
 - fixed and updated documentation
 - servo added to simulation

Change-Id: Ia702ff0f1fee10d77f543810ad88f56696443b05

simulation/frc_gazebo_plugins/servo/src/servo.h

@@ -0,0 +1,59 @@
+#pragma once
+
+#include "simulation/gz_msgs/msgs.h"
+
+#include <gazebo/gazebo.hh>
+
+using namespace gazebo;
+
+/**
+ * \brief Plugin for controlling a servo.
+ *
+ * This plugin subscribes to a topic to get a signal in the range
+ * [-1,1]. Every physics update the joint's torque is set as
+ * multiplier*signal.
+ *
+ * To add a servo to your robot, add the following XML to your robot
+ * model:
+ *
+ *     <plugin name="my_servo" filename="libgz_servo.so">
+ *       <joint>Joint Name</joint>
+ *       <topic>/gzebo/frc/simulator/pwm/1</topic>
+ *     </plugin>
+ *
+ * - `link`: Name of the link the servo is attached to.
+ * - `topic`: Optional. Message type should be gazebo.msgs.Float64.
+ */
+class Servo: public ModelPlugin {
+public:
+	Servo();
+	~Servo();
+
+	/// \brief load the servo and configure it according to the sdf
+	void Load(physics::ModelPtr model, sdf::ElementPtr sdf);
+
+	/// \brief Update the torque on the joint from the dc motor each timestep.
+	void Update(const common::UpdateInfo &info);
+
+private:
+	/// \brief Topic to read control signal from.
+	std::string topic;
+
+	/// \brief the pwm signal limited to the range [-1,1]
+	double signal;
+
+	/// \brief the torque of the motor in kg/cm
+	double torque;
+
+	/// \brief the joint that this servo moves
+	physics::JointPtr joint;
+
+	/// \brief Callback for receiving msgs and storing the signal
+	void Callback(const msgs::ConstFloat64Ptr &msg);
+
+	physics::ModelPtr model; 			///< \brief The model that this is attached to
+	event::ConnectionPtr updateConn; 	///< \brief The Pointer to the world update function
+	transport::NodePtr node; 			///< \brief The node we're advertising torque on
+	transport::SubscriberPtr sub; 		///< \brief the Subscriber for the pwm signal
+
+};