Readd run_depend on libgsl

This is needed for the csm library.

Fix ROS builds

This packge is not a catkin package - there is no mention of catkin in
the CMakeLists.txt. Catkin can still build the package if it is a 'plain
cmake' package.

Also, the Cairo dependency was missing.

The package.xml should really be installed to the share directory as
well, so that when this package is installed, rosdep can see it.

Fix compilation on Ubuntu 16.04 (ROS kinetic sbuild) - by Jochen Sprickerhof

Configure in build space

recompute correspondences in case of restarts

recompute the correspondences in case of restarts. This computes the
covariance using the best estimate and reports the used correspondences
to the caller in the given LDP data.

Add binary installation to readme

add patches from laser_scan_mather and fixed some of CMakeLists.txt

add cm_icp_xy from https://github.com/ccny-ros-pkg/scan_tools/tree/indigo/laser_scan_matcher/csm/patches

sm/CMakeLists.txt add -fPIC (relocation R_X86_64_32 against '.rodata' can not be used when making a shared object; recompile with -fPIC)

package.xml : add libgsl to run_depend see https://github.com/AndreaCensi/csm/blob/master/sm/pkg-config/csm.pc.in#L7

Add a package manifesto file for ROS release

A few fixes for memory leaks found by Christoph Sprunk from U Freiburg.

Adding an implementation for egsl_free. It releases all unused memory currently held by the egsl_contexts.

Changing egsl_alloc_in_context to work like egsl_alloc to avoid memory leaks. One could merge these two methods since they do the same only on a different context index...