Merge pull request #33 from robotics-in-concert/opp

changes in concertservice.msg. now no linkgraph but launcher string
share option for infinite shares
Merge pull request #34 from robotics-in-concert/infinite_shares

Share option for infinite shares
let's use yaml strings for parameter representations to HIA clients.
Merge pull request #35 from robotics-in-concert/yaml_parameters

Use yaml strings for parameter representations to HIA clients.
trivial comment fixes.
introduce launcher type