included commented disable_zeroconf in the default parameter file.
benchmarking utilities.
pep8 updates
move watcher thread into main thread, refs #155
Benchmarking tests for the gateway master api.
removal of almost all xmlrpc calls when indexing local connections, and a nosetest.
revert back to faster looping - optimisation issues were not here.
better error feedback on sample errors.
fix problems with new skeletonised connection index for advertising, closes #155.
Merge pull request #158 from robotics-in-concert/gateway_optimising

Trim the work done building an initial connection index