Stop debug messages defined on RT-SLAM headers

Also remove the attempt shut the debug up on runtime.
Fix CMakeLists.txt to define propoer flags needed for displays.

There was some problem with the Jafar_<modulename>_FOUND flag. I
changed <modulename> to lowercase (default jafar module names) and it
worked. I should investigate more how this cmake modules flags
works... I though upper/lower case wouldn't matter.

Also, while here, improve cmake modules by throwing fatal errors if
the module is required but not found, and also add better error
messages.
Fix CMakeLists.txt to allow compilation of QT with tf
Add the display QT and GDHE. Compilable but not tested yet.

NOTE: Will only work if the QT classes use Q_SIGNALS, Q_SLOTS, Q_EMIT
instead of signals, slots, emit and so on, if not it will conflict
with boost::signals added by tf. Rtslam and qdisplay in robotpkg/wip
as today are not in conform with it but a patch should come soon.

For more info, check
http://qt-project.org/doc/qt-4.8/signalsandslots.html#using-qt-with-3rd-party-signals-and-slots
and
http://wiki.ros.org/qt_ros/Tutorials/Mixing%20Qt%20and%20Boost%20Signals