[IMU added in base estimation] + bug fixed in wEulerMean. Comparison to gazebo link publisher allowed in test_dcm_estimator

[removed ctrl_manager] replaced with parameter server. As it is, this script outputs data from base-estimator in a file.

[changed signal input of base estimator] from robot.device.state (size 38) to robot.sevice.joint_angles (size 32)