Release v0.4.0

This release is compatible with:

• hardware-interface v0.4.0
• monitor v0.4.0
• simulation v0.4.0
• gait-generation v0.3.0
• input-device v4.0.0
• arduino-master v0.1.0

New 🎉

• Removed march_rqt_software_check (#498)
• Renamed ImcErrorState.msg to ImcState.msg (#296)
• Gaits that are not loaded will be rejected and return to original state instead of transitioning to unknown (#501)
• Force state machine to unknown (#506)
• Controller statistics in ESP (#509)
• Motor voltage statistics in ESP (510)
• Add tilted path straight states (#511)
• First experimenting with moveit and balanced gaits
• More gait selection tests (#521)
• Updated URDF with up-to-date physical properties (#524)
• New Alive.msg with input device identifier
• Add arduino master to launch (#527)
• Add support multiple input device connections (#528)

Fix 🔥

• Fixed random stopping of gait (#505)