Fix ROS_ERROR msg for missing ports in get_dyn_reconf_* functions. Add unsigned int type for print_port action

geometry helpers: add get_pose_* and get_pose_fields actions to retrieve pose x,y,z,roll,pitch,yaw,frame_id fields

  * some operations didn't use the second value (value2)
  * the histeresis was not initialized

Merge branch 'helpers' of ssh://gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_bt_client into helpers

Added an action to compute the distance only on the y direction.

See merge request !2

# Conflicts:
#   src/iri_bt_basic_nodes.cpp

Revert "Added two actions: one to generate a success state and the other one...

See merge request !1

The Dynamic reconfigure data structrue is passed as a pointer so that changes on its values are detected.

Merge branch 'testing' of ssh://gitlab.iri.upc.edu:2202/labrobotica/ros/iri_core/iri_base_bt_client into testing

Solved a problem when having to modify the values of the dynamic reconfigure data. The base class parameters are known.

Revert "Added two actions: one to generate a success state and the other one to generate a failure state."

This reverts commit 85939afd