Move master branch to v3.

Leads to resize with garbage value

TODO: where to set the size of angleEncoder_?

This is necessary to include tf in the library to be linked with.

robot_model->njoints has the kinematic tree

Conflicts:
	CMakeLists.txt
	cmake
	include/dynamic_graph_bridge/sot_loader.hh
	package.xml
	src/sot_loader.cpp

Add proper dependence to the SoT packages.

sot_laoder: calls the real time control loop after initializeRosNode.

with filling sensor, control computation and sending control.

Conflicts:
	CMakeLists.txt
	package.xml
	src/converter.hh
	src/geometric_simu.cpp