Updated URDF parser to latest version of ROS https://github.com/ros/urdfdom_headers
and https://github.com/ros/urdfdom but apply fixes soo it compiles on Windows
In particular: reset() -> reset(0)
Remove BOOST dependency (use tiny boost_replacement)
Tested using Visual Studio 2013
Removed 'write' functionality.
Use preprocessor definition 'URDF_USE_BOOST' to re-enable boost dependency