Create controller for velocity based driver

[kinekt2000]

• Controller should have the same interface as the teleportation based version
• Controller can be adjusted before start-up
• Scenarios of usage:
  • Sequential rotation and movement: Robot rotates to desired orientation, than moves to desired position
  • Simultaneous rotation and movement: Robot rotates and moves to desired orientation simultaneous
  • Directional movement: Robot starts slow movement in its direction, then start rotating in desired orientation, when robot rotation close enough to desired orientation, robot starts increasing it's movement speed. When robot position is close to finish point, robots starts decreasing it's movement speed.