Update to the 

The goal of this PR is to allow the update of dynamic_graph_bridge to the HEAD of the groovy branch.
For now, in redundant_manipulator_control, the tag are:

jrl_dynamics_urdf        : 0ef5663
dynamic_graph_bridge : c4b44af

Also, this modification avoids using the last version of dg_bridge, which is stand alone, but does not compile on groovy.