Prototype Catkin Support in rtt_ros_integration

All,

Ruben started updating the Orocos RTT / ROS integration to support
catkin-based ROS packages and generally move all ROS interfaces outside of
Orocos itself. I picked up some of the changes he started and ran with it,
and I'd like to get some feedback from the community on both the method of
catkin integration as well as some changes that I've made which I think
will make it easier to add more features to the RTT / ROS integration as we
move forward.

A prototype of this new version can be found on the default branches of
these repositories:

 * orocos-toolchain (and forked submodules):
https://github.com/jhu-lcsr-forks/orocos_toolchain
 * rtt_ros_integration:
https://github.com/jhu-lcsr-forks/rtt_ros_integration
 * rtt_ros_comm: https://github.com/jhu-lcsr-forks/rtt_ros_comm

As of now, this has only been developed to support catkin-based ROS
packages, but adding backwards-compatible rosbuild support shouldn't be too
hard.

See the main README here for an explanation of the changes (and links to
contained READMEs):
https://github.com/jhu-lcsr-forks/rtt_ros_integration/blob/hydro-devel/README.md

I'm looking forward to your feedback!
thanks,
-jon

-- 
Jonathan Bohren
Laboratory for Computational Sensing and Robotics
http://dscl.lcsr.jhu.edu/People/JonathanBohren

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