update to use jack's requester.
adds required capabilities information to app msg
merges changes from hydro-devel
Merge pull request #47 from robotics-in-concert/requester

Update to use jack's requester.
Merge branch 'hydro-devel' into capabilities_integration
Merge pull request #48 from robotics-in-concert/capabilities_integration

Adds capabilities support for (r)apps
Merge branch 'hydro-devel' of https://github.com/robotics-in-concert/rocon_msgs into add_connection_msg