support urdfdom from ros groovy

Change-Id: Ib917a5d4965b709a44eb78984e56325bed16b76b
never use boost timer lib if boost <1.48

The time library was introduced in boost 1.48. However the cmake/qibuild code
can report it as found even on boost 1.40.

It probably get misleaded by the old timer.hpp.

Instead of fixing the cmake code, we check the boost version in the cpp.

Change-Id: I1bb56fad89c13443c66c0881dc40f1aca515ac18
improve doc

Change-Id: Ib7f327c17eaade7af7fbc83d188eef0b2d995ccf
benchmark/CMakeLists.txt: fix typo

Change-Id: I7b49d3425d1dd8190325bcb6234d7f160b7857e6