raring fixes: link to pulse audio libraries

On raring, it is required that we link with PulseAudio to avoid
unresolved symbol errors. This may not be true on OpenQbo but I don't
have an install here to test.
hydro fix: roslib is no longer included with roscpp

We need to add roslib to the manifest for compilation to succeed.
Merge branch 'hydro-fixes'
Merge branch 'raring-fixes'