Catkinisation and more...

You know what it is about :), I think code still needs testing; in particular I haven't been able to make nao_sensors .py work like before in my setup (though it could be an error somewhere else).

Last minute additions:
 * nao_speech works with simulated naoqi
 * nao_driver_naoqi.py now checks for rosparams as well as cmd line
 * Installation of config scripts