cut dependency to Kitelab and to jrl-dynamics.

  This reverts commit bb08bf63.

  These computations are very time consuming, but they are useful to debug
  direct path validation.

This reverts commit 2d52fcc9.

This reverts commit d03b2f13.

  * Model is found by resource retriever at the location
    package://${modelName}_description.
  * This requires that the robot model install prefix be added to the
    ROS_PACKAGE_PATH environment variable.

  * An error message is still outputed, but this way at least the
    kinematic tree and geometries are properly displayed.

  replace deprecated method srdf::Model::getDisabledCollisions by
  srdf::Model::getDisabledCollisionPairs.
  remove unused parameter.

  URL is expected not simply file name.

  1. Robot description file are now installed. The package does not
     rely anymore on ROS machinery to locate files from package name.
     Instead, the directory where the data relative to the robot are
     installed has been added as an argument of
     hpp::model::urdf::loadRobotModel.
  2. Optional dependency to romeo_description is triggered when corresponding
     test is enabled.

  * Dependency was used to convert quaternions to rotation matrices.
  * The conversion is now directly implemented when needed.

is a box.

  * In this case the collision geometry KiteLab is considered to be
    also a mesh.