Update to pinocchio v2 + add plugin

[CMake] add RUN_TESTS and depend on romeo_description in this case

minor changes

fix:
[ 80%] Building CXX object tests/CMakeFiles/romeo-small.dir/romeo-small.cc.o
In file included from /workspace/src/hpp-wholebody-step/include/hpp/wholebody-step/fwd.hh:24:0,
                 from /workspace/src/hpp-wholebody-step/include/hpp/wholebody-step/static-stability-constraint.hh:23,
                 from /workspace/src/hpp-wholebody-step/tests/romeo-small.cc:35:
/workspace/install/include/hpp/walkgen/fwd.hh:25:39: fatal error: roboptim/trajectory/fwd.hh: No such file or directory

when roboptim is installed from robotpkg,
ref https://github.com/humanoid-path-planner/hpp-doc/issues/23

BOOST_MESSAGE have been deprecated for years, and have been removed in Boost 1.59

Update to modifications in hpp-constraints

  - Locked joints are not handled separately anymore in constraint solvers.

  - replace deprecated class BasicConfigurationShooter by shooter::Uniform,
  - remove unused variable,
  - explicit cast.

    core::NumericalConstraints -> constraints::Implicit
    core::Equation -> constraint::explicit
    core::ExplicitNumericalConstraints -> constraint::explicit
    core::LockedJoint -> constraints::LockedJoint

  - HESSIAN_MAXIMUM_COEF: 500 -> 1000.

  - use romeo_small.urdf for tests.
  - two Jacobian tests did not pass out of 20 * 37. I had to
    set HESSIAN_MAXIMUM_COEF to 1000. instead of 500.