0.5.0

• NOTE: This version drops support for firmware versions before 24
• Use new 8-byte serial protocol
• Add support for using dynamic_reconfigure to change PID parameters
• Add support for setting the deadman timer via a parameter
• Add support for debug registers, do enable better firmware diagnostics
• Add support for limit reached warnings from firmware
• Improved testing, more coverage and cleaner tests
• Have motor_node explicitly return an exit code
• Reduce memory allocations caused by resizing vectors
• Use size_t instead of int for iterating
• Contributors: Rohan Agrawal, Jim Vaughan