Add travis support + code cleanup / simplification

Please add this package to the list of packages tested by travis.
I'm using hydro for the travis test.
Right now this  used by the romeo script to pass on the list of actuated joints. Your filter will not scale up to some real robots cases a bit difficult. For instance with Nao this will not work. In addition,  there is some extensions currently pushed to metapod to include passive joints. Again this will not be appropriate with your filter and the removal of this method.