Simplify the use of jderobot interfaces on the client side

[chanfr]

We have to write too much code (and duplicated) while we are using the client side of the jderobot interfaces. The idea is to include a new handler to reduce all the duplicate the code and simplify the use of all the interfaces.

[chanfr]

Using the example a replayController we have to write:

   jderobot::replayControlPrx prx;
try{
    Ice::ObjectPrx base = ic->propertyToProxy(prefix+"control.Proxy");
    if (0==base){
        throw "replayController: Could not create proxy with replayControl";
    }
    else {
        prx= jderobot::replayControlPrx::checkedCast(base);
        if (0==prx)
            throw "Invalid " + prefix + ".Proxy";
    }
}catch (const Ice::Exception& ex) {
    std::cerr << ex << std::endl;
}
catch (const char* msg) {
    std::cerr << msg << std::endl;
    std::cout << "replayController: Not camera provided" << std::endl;
}

only to use the proxy of the interface.

[chanfr]

Now using the commonHandler template you will only need to write:

 std::string replayControllerName = prop->getPropertyWithDefault(prefix+"control.Proxy", "");
 CommonHandler<jderobot::replayControlPrx> replayController(ic,replayControllerName,false)
 if (!replayController->getProxy())
    exit(-1);

You will have the jderobot::replayControlPrx prx; under replayController->getProxy().

[aitormf]

JdeRobotComm (#654) solves this problem among others. See #683 and #696