Name topics and params according to ROS conventions

As changing these kinds of things later in the lifecycle of a ROS package can become quite painful when there are multiple users, I'd suggest to perform some minor changes for naming topics etc. as soon as possible. In the ROS world, parameters and topic names are generally written lower case with separating underscores. See http://wiki.ros.org/ROS/Patterns/Conventions and http://wiki.ros.org/Parameter%20Server.

I also suggest to not name topics identically to the message they are using, as the same message types can be used for multiple topics and things get confusing then.

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