Updated the plugin to new version of wrappers from yarp.
Changed also the  parsing of config file to a more clear version... I hope.
Files ini can be found on the other repo - iit-ros-package
fix bug in checking jointNames param and passing pids from file
BugFix in reading of torque values and controlMode
Merge Alberto's changes and master

Resolved Conflicts:
	CMakeLists.txt
	include/gazebo_yarp_plugins/ForceTorqueDriver.h
	src/yarp_drivers/ControlBoardDriver.cpp
	src/yarp_drivers/ControlBoardDriverDeviceDriver.cpp
Removed residual merge stuff