Updates and publish rate

[cosama]

closes #65

This merge request will change the following things:

• Update the vectornav programing library to the newest version (1.2.0.0).
• Add a Dockerfile
• Fix issue Published topic frequencies not as expected #65

I was having some issues with my device with respect to publishing rates and it turned out it was related to #65. The issue was that it seems there are two different channels to get the device to send data asynchronously to the host:

1. Async output data: This configures the device to send out data at a fixed rate. This is discussed in chapter 6.2.7 and 6.2.8 of the manual. It's rate is defined by vs.writeAsyncDataOutputFrequency(...) and the output types with vs.writeAsyncDataOutputType(...). It can be turned off with 0 == VNOFF. If turned off the ouput frequency has no meaning (I removed the calls).
2. Data requested explicitly through the BinaryOutputRegister: The publish rate is defined as a fraction of the sensor imu rate. This will be delivered next to the async output.

If both modes are configured, they will also be both delivered and can lead to higher rates than expected. The change I applied, is to reconfigure the device to not use async data output at all and only publish the data requested through the BinaryOutputRegister.

[dawonn]

Thanks for the update, and nice touch with the dockerfile.