Internal refactoring of log to fix bugs in saving force sensors and joint encoders.

Real time logger - Logs in binary format

Verbosity level can be set through rosparam
Fix depend.mk

This release does not generate an error when the robot does not use all the interfaces.
It is compliant with both normal roscontrol AND the PAL-robotics fork.

Provides position control with a transition between loading the controller and starting the SoT.
You have to make sure that the pose of the robot and the initial pose of the SoT matches.
Update the pure PAL-Robotics forks.