* remove boost dependency
* make catkin and rosconsole optional, replace urdf by urdfdom
* cmake modules for TinyXML and TinyXML2
source: https://github.com/ros/cmake_modules
* append to cmake module path
* replace urdf by urdfdom
* mention source of local cmake module files
* define ROS_WARN and ROS_ERROR as standard error
* remove define guards from header files
* always build shared library
* define ROS_DEBUG as standard output
Christian Rauch