Move base with speed

[mbusy]

This PR allows to control the position of Pepper's base while setting a max speed for the movement.

• The message type expected on /move_base_simple/goal is not a PoseStamped anymore but a PoseStampedWithSpeed (defined in naoqi_bridge_msgs, in that PR)
• The specified speed will only be taken into account if the robot is a Pepper
• The PoseStamped can only be referenced in "base_footprint" or in "odom", no movement will be launched if another frame is specified
• If the quaternion of the PoseStamed is invalid, the corresponding yaw will be set to 0.0 (nan before, could make the robot fall)