adding nwheeledcar, centipede, and pivot car

rocolib/api/components/Component.py

 from collections import OrderedDict
-import os
+import os, posixpath
 import sys
 import yaml
 import logging
@@ -135,11 +135,11 @@ class Component(Parameterized):
             if prefix == "":
                 prefix = name
 
-            for key, value in obj.parameters.items():
+            for key, value in obj.getParameterInfo().items():
                 # inherit = True : inherit all parameters
                 if inherit is True or key in inherit:
                     try:
-                        self.addParameter(prefixString(prefix, key), value.defaultValue, **value.spec)
+                        self.addParameter(prefixString(prefix, key), value["defaultValue"], **value["spec"])
                     except KeyError:
                         # It's ok if we try to add a parameter that already exists
                         pass
@@ -290,7 +290,7 @@ class Component(Parameterized):
 
     def toYaml(self, basedir, filename):
         filepath = os.path.join(basedir, filename)
-        source = os.path.relpath(sys.argv[0], basedir)
+        source = os.path.relpath(sys.argv[0], basedir).replace(os.sep, posixpath.sep)
 
         parameters = {}
         for k, v in self.parameters.items():