Added singleton to pass pointers from plugin to device class in safe way.
This class handle more robots searching them by name, so if different devices use the same robot model, probably a single plugin for each type can be
instantiated saving some memory... this has to be verified.
BugFix: Automatic compilations was complainig about a string.
Removed instruction on YARP_COMPILE_EXPERIMENTAL_WRAPPERS

Because are now compiled by default in yarp after robotology/yarp@9120378b0ec963148b84793bd269e95d961b1a12
Added initial configuration read and setting, still missing to pass initial configuration to ref for pids so the robot come back to zeros.
Added possibility to set initial configuraion from world file through tag. Now is working. I have implemented everything inside ControlBoardDriver passing the initial configuration as a parameter.
Merge branch 'initial_configuration'

Conflicts:
	CMakeLists.txt
	src/yarp_drivers/ControlBoardDriver.cpp
	src/yarp_drivers/ControlBoardDriverEncoders.cpp
Update README.md
Test with yarp compiled from source
Installing yarp from master

Not local installing yarp as apparently it does not support the package registry
Merge branch 'master' into development