Add option parser using boost::program_options

Now it's possible to set options using the command line or a
configuration file. If the same option is set in both command line and
config file the cmd line option will be prefered.

For now only the following options are available:
  --help
  --version
  --replay
  --data-path
  --log-file
but others should be added as needed.

NOTE: technically there will be no distinction between program options
and parameters, but parameters will be prefered to be set in a
configuration file since they change less often than program options.
Set timing infos for the camera.

Aparently that was the reason the sensor manager was not being able to
select the "best_candidate". I still don't really understand what's
going on inside sensor manager though.

Thanks to Cyrille Berger for investigating this.
Small fixes. Not a big deal
Add tf broadcaster of estimated robot pose

The broadcast needs to be a pointer because if not it wil try to
initialize the node handler before the ros::init, leading to a runtime
crash.

The parent frame is set to "world" since "uav0/origin" didn't work
(don't know why yet). It's not a problem because they are in the same place.

NOTE: "using namespace boost" was removed because it was causing an
ambiguity between our signal function and boost::signal (added from
tf/transform_broadcaster.h)
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
Re-arrange definitions to match the original on main.hpp
Add code to load setup and estimation options

Still not integrated to simplemain
Change simplemain.hpp to get setup and estimation values from a config file
Add template for a configuration file
Add a config file for liu quadcopters

The values still need to be adjusted properly
Few fixes with the options. Needs further testing and probably to add more code
Change imu and image topic names.

They need to be remaped to the correct ones on runtime by command line or launch file
Remove MTI_DEVICE parameter

The mti data is read from topic, remaped at runtime, so this parameter
is no longer needed.
Add replay enum to help reading of replay option on simplemain.hpp
Fix definition of mode based on replay and dump options
Add random seed option
Wait for the topics to be published before entering on the main loop