First set of changes to port to Hydro. Changed files to catkin build sys...

...tem. Changed code of the plugin to address changes in ROS <-> PCL cloud conversion. Now it is sensor_msgs <-> pcl::PCLPointCloud2 <-> pcl::PointCloud2. The plugin for some reason cannot be loaded by V-REP, and so YouBot topics are not available.

And in CMakeLists.txt I link to system-wide PCL (libpcl-1.7-all 1.7.0-2+precise4 on my system), not that from Hydro distribution.