Robotics Service Bus

Check if we can't use RTTI to get the type name that shall also be used in the registry.
This could also be used to let the components register themselfes in the registry.

However, question is if we need to perform some name mangling if this code is platform dependant.

Currently, this looks like the following:

Publisher<PersonHyp>::Ptr p(new Publisher<PersonHyp>(uri,"PersonHyp");
p->publish(image,"IplImage")

Eventually, the publisher code could boil down to:

PublisherPtr p = Publisher<string>::create(uri);
p->publish("blub");
p->publish<IplImage>(new IplImage());

(For the above example to work, the type name would need to be extracted in the constructor or in the templatized publish method using typeid.)