YarpOpenraveBase bugs regarding open command

[jgvictores]

Discovered during #67, YarpOpenraveBase only send open with the --orPlugin parameter:

openrave-yarp-plugins/libraries/YarpPlugins/YarpOpenraveBase/YarpOpenraveBase.cpp

Lines 114 to 121 in 2fe53a8

	std::stringstream cmdin,cmdout;
	cmdin << "open";
	// RAVELOG_INFO("%s\n",cmdin.str().c_str());
	if( ! pModule->SendCommand(cmdout,cmdin) )
	{
	CD_ERROR("Bad send 'open' command.\n");
	return false;
	}

This may be intentional. The --orPlugins parameter is more powerful and apparently does pass more parameters. Check this.

[jgvictores]

Should also fix the fact that commands like these send strange commands (including dummyProgramName in name parameter):

openrave-yarp-plugins/examples/openraveYarpPluginLoader-robotmanager.py

Lines 16 to 21 in 0d9b758

	OpenraveYarpPluginLoader = RaveCreateModule(env,'OpenraveYarpPluginLoader')
	print OpenraveYarpPluginLoader.SendCommand('open --device RobotServer --subdevice YarpOpenraveRobotManager --robotIndex 0 --physics ode')
	print OpenraveYarpPluginLoader.SendCommand('open --device grabber --subdevice YarpOpenraveGrabber --robotIndex 0 --sensorIndex 1 --name /ecroSim/img:o')

[jgvictores]

This in fact looks easy to fix; a simple clear before first push_back.

[jgvictores]

This in fact looks easy to fix; a simple clear before first push_back.

Better fix for the strange commands implemented and working at 68978df.

[jgvictores]

Updated example at 6ece239.

Leaving issue open to check initial statement (singular --orPlugin).