Use jack's requester

This is currently based off a fork of Jacks' github repository in https://github.com/robotics-in-concert/rocon_scheduler_requests.

What this does.

 * Uses the Requester class to publish requests in the static_link_graph_handler
 * Subscribes to the other end of the requester in the concert scheduler
 * Updates large swathes in the scheduler to properly use the new messages
 * Fixes the regression in force_name_matching
 * Bugfixes a couple of small problems here and there.

What it doesn't do:

* Attempted to solve the min-max regression, but need priorities in the requester to do that.
* Disabled the unload_resources in service manager till we have proper requester code for it.
* Doesn't provide any feedback for the requests.
* Scheduler doesn't do anything else required by jack's module yet - e.g. transitions.