Changes for tf2 in hydro - frame naming

http://www.ros.org/wiki/hydro/Migration#tf2.2BAC8-Migration.Removal_of_support_for_tf_prefix

They are no longer attempting to handle graph names. As it turns out, with some packages having updated and others none, rosjava causes havoc with the names. This is the case for android_tutorial_map_view where lookups to common roots fail (map-base_link) because its trying to compare the graph name resolved `/map` with the map header string `map` that got saved in the transform class internally.

I've fleshed out some rosjava_geometry2 modules that remove usage of GraphName with FrameName. The only special feature of that class is the python/cpp implementation's stripping of any leading slashes. This resolves the problems for android_tutorial_map_viewer in hydro.