Added emergency stop support.

I have added emergency stop support to the gazebo_ros_control and DefaultRobotHWSim plugins. gazebo_ros_control now resets the controllers when the robot's simulated hardware indicates that the emergency stop has been deactivated after being activated. DefaultRobotHWSim now subscribes to the Boolean topic specified by the eStopTopic SDF element. Messages received from the topic control the E-stop. When the E-stop is activated, the following occurs:

* If a joint's position is being controlled, DefaultRobotHWSim maintains the position the joint had when the E-stop was activated.

* If a joint's velocity is being controlled, the velocity is set to zero.

* If a joint's effort is being controlled, the effort is set to zero.

Instead of passing the SDF to `initSim`, how about simply passing the estop topic name?. It would be more consistent with how the `robot_namespace` parameter of this same method is obtained.

All plugin-specific fields are fetched from the SDF in [`GazeboRosControlPlugin::Load(...)`](https://github.com/ros-simulation/gazebo_ros_pkgs/blob/indigo-devel/gazebo_ros_control/src/gazebo_ros_control_plugin.cpp#L58), and then stored and passed to the other relevant methods.