Merge branch 'armar6demo' of https://gitlab.com/ArmarX/RobotAPI into armar6demo

etc/cmake/FindSOEM.cmake

...tAPI/components/units/InertialMeasurementUnitObserver.cpp

source/RobotAPI/components/units/KinematicUnitObserver.cpp

source/RobotAPI/components/units/KinematicUnitObserver.h

.../RobotAPI/components/units/RobotUnit/BasicControllers.cpp

...ce/RobotAPI/components/units/RobotUnit/BasicControllers.h

source/RobotAPI/components/units/RobotUnit/ControlModes.h

...nits/RobotUnit/ControlTargets/ControlTarget1DoFActuator.h

...tAPI/components/units/RobotUnit/Devices/ControlDevice.cpp

...botAPI/components/units/RobotUnit/Devices/ControlDevice.h

...ts/units/RobotUnit/NJointControllers/NJointController.cpp

...ents/units/RobotUnit/NJointControllers/NJointController.h

...ers/NJointHolonomicPlatformRelativePositionController.cpp

...llers/NJointHolonomicPlatformRelativePositionController.h

...intHolonomicPlatformUnitVelocityPassThroughController.cpp

...JointHolonomicPlatformUnitVelocityPassThroughController.h

...intControllers/NJointKinematicUnitPassThroughController.h

...obotUnit/NJointControllers/NJointTrajectoryController.cpp

.../RobotUnit/NJointControllers/NJointTrajectoryController.h

...s/RobotUnit/RobotUnitModules/RobotUnitModulePublisher.cpp