- do not assume that base link is called "base_link".

  This way, the collision pairs are stored in the device.

  urdf file does not specify the type of root joint. Parameter rootJointType
  specifies the type of the root joint of the robot. Possible values are
    - "freeflyer",
    - "planar",
    - "anchor".

  Contact point information is not used and does not seem to be general enough
  to be useful.

Remove obsolete header inclusion

  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.