Add locomotion control module and paramHelp library to cmakelist
Extend ParamHelp library

Add support for arbitrary rpc commands and input/output streaming
parameters. The library compiles, but the new features has not been
tested yet.
Split ParamHelper in Client and Server versions

Add ParamHelper for the client side. Rpc part seems to work fine, but
the streaming part has not been tested yet. Locomotion control module
adapted to work with new paramHelp library.
Temporary fix for memory access violation

Comment delete of allocated memory because it gave memory access
violation