Allows the update of dg_graph to the HEAD of the groovy branch

The goal of this PR is to allow the update of dynamic_graph_bridge to the HEAD of the groovy branch.
For now, in redundant_manipulator_control, the tag are:

jrl_dynamics_urdf        : 0ef5663
dynamic_graph_bridge : c4b44af

It is not possible to update dynamic_graph_bridge with the current version of jrl_dyn_urdf.
This modification applies the necessary patches, taken in the master branch.
Also, this modification avoids using the last version of dg_bridge, which is stand alone, but does not compile on groovy.