Middleware: some updates on the MOOS part

I made some changes in order to communicate between MORSE and MOOS through different MOOS communities. I needed to specify different hosts and ports. The frequency of the corresponding MOOSApp is also configurable.
Those modifications are working with my fork from davidhodo/pymoos. A pull request has been sent to his repository.
Now, MOOS is also working with some sensors and actuators (Pose, Light, Teleport).
Other contributions may follow. Thanks for your work!
prefer the `dict.get` method for code clarity
```python
self.moos_host = self.kwargs.get('moos_host', "127.0.0.1")
```