Leads to resize with garbage value

TODO: where to set the size of angleEncoder_?

sot_laoder: calls the real time control loop after initializeRosNode.

with filling sensor, control computation and sending control.

The trigger signal cannot be destroyed.

This enables to directly launch a python file within any roslaunch file
Adapted by F.Keith for the extraction of the messages.

Fixes #22

Conflicts:

	include/dynamic_graph_bridge/ros_interpreter.hh
	src/ros_interpreter.cpp

Deregister the signal formerly added.
Add a mutex system to prevent removing a signal while triggering it,
 to avoid a crash (especially if the topic was listened to).

  Without this call the command fails.

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.

  Launching an application in a roslaunch file may cause to send python
  command before the interpreter has read the prologue. This commit should fix
  this issue.

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]

Pb: The openrtm architecture loads a shared library to implement the services of
an OpenRTM node. The scheduling properties are ensured by the operating system
running openrtm. Then on the robot, when the shared library is loaded it is
run inside the real-time loop. As sot-hrp-2 was creating the interpreter and
the ros-node in the constructor this used to break HRP-2 real-time OS.

This commit change the initialization of the ros-node to use a multi-threaded
spinner. Then ros calls are handled in a seperate non-realtime thread.