this will allow to close Issue #18

  It seems that everybody is still using the old style ROS build system...

The old names are kept for now, but will disappear in the
future.

The old names are kept for now, but will disappear in the
future.

Setting up ROS:
rosparam load `rospack find hrp2_14_description`/sot/hrp2_14_reduced.yaml
rosrun robot_state_publisher state_publisher

Display the robot using the info given in
https://trac.laas.fr/gepetto/hrp2/hrp2_14_description/html/reference/

To repeat at each simulation:
rosrun dynamic_graph_bridge geometric_simu --input-file ~/devel/ros-unstable-2/install/lib/libsot-hrp2-14-controller.so
rosrun dynamic_graph_bridge run_command
>>> from dynamic_graph.sot.application.velocity.precomputed_tasks import *
>>> solver=initialize(robot)
rosservice call /start_dynamic_graph
>>> Put_whatever_you_want_in_python

The rationale is to use a state vector map provided by the robot stack.
For instance for hrp-2 we have a yaml file providing the ros parameter:
/sot/state_vector_map
which specifies the state vector:
[RLEG_JOINT0, RLEG_JOINT1, RLEG_JOINT2, RLEG_JOINT3, RLEG_JOINT4, RLEG_JOINT5, LLEG_JOINT0,
  LLEG_JOINT1, LLEG_JOINT2, LLEG_JOINT3, LLEG_JOINT4, LLEG_JOINT5, CHEST_JOINT0, CHEST_JOINT1,
  HEAD_JOINT0, HEAD_JOINT1, RARM_JOINT0, RARM_JOINT1, RARM_JOINT2, RARM_JOINT3, RARM_JOINT4,
  RARM_JOINT5, RARM_JOINT6, LARM_JOINT0, LARM_JOINT1, LARM_JOINT2, LARM_JOINT3, LARM_JOINT4,
  LARM_JOINT5, LARM_JOINT6]

Thanks to Tinne De Laet for notifying.

  Define entity RosTime that exports Ros time in a signal,
  add this entity in class dynamic_graph.ros.ros.Ros.
  Transfer Ros time in signal of type ptime instead of vector.

Previous version of abstract-robot-dynamics did not contain the joint
name. Therefore, we had no way to forward the joint names to ROS.

This patch changes the ros_joint_state entity to add a
retrieveJointNames command. This command uses the pool to retrieve an
instance of the Dynamic entity (i.e. robot.dynamic) by using the
entity name. It then iterates on the robot structure to fill the joint
names in the message.

This command is automatically called in the Ros class so this change
is transparent for the end-user.

However, no more assumptions are made on the robot structure so the
sent message is exactly matching the robot structure loaded in the
dynamic entity. In particular, the free floating DOFs are sent and the
hard coded hand values have been removed.

ROS, in fact, requires DOF names and not joint names. Therefore, the
names are computed as follow:
- 0 dof: ignored,
- 1 dof: dof name is the joint name,
- >1 dof: <joint name>_<dof id>

    Rename targets
      - dynamic_graph/ros/ros_import/wrap -> ros/ros_import/wrap,
      - dynamic_graph/ros/ros_export/wrap -> ros/ros_export/wrap,
      - dynamic_graph/ros/ros_joint_state/wrap -> ros/ros_joint_state/wrap.
    Add missing linking flags to target interpreter.
    Do not redefine PYTHON_SITELIB, use cmake/python.cmake definition.