Use verb pattern

This is a major refactor for the verb's to use the generalized "verb pattern" now in osrf_pycommon:

https://github.com/osrf/osrf_pycommon/pull/6

This pull request also refactors `build` and `build_pkg` to use the concept of BuildType and BuildActions to define build workflows for different `build_type`'s.

Todo:

- [x] Use `osrf_pycommon`'s "verb pattern":
 - [x] `build`
 - [x] `build_pkg`
 - [x] `list_packages`
 - [x] `package_name`
 - [x] `package_version`
 - [x] `test`
 - [x] `test_pkg`
- [x] Use `BuildAction` and `BuildType` pattern:
 - [x] `build`
 - [x] `build_pkg`