Publish reference wrench from StateHolder wrench data ports. Check existence of wrench ports because hrpsys-base 315.1.9 does not have wrench ports in Seq and Sh.
Merge pull request #608 from snozawa/add_reference_wrench_publishing

>  Check existence of wrench ports because hrpsys-base 315.1.9 does not have wrench ports in Seq and Sh.

Sorry, hrpsys-base 315.1.9 => hrpsys-base 315.1.x.

Travis passed.