Cleaned the initialization logic.

It make no sense to change the synchronizer during the Oncilla object
life, (especially if the synchronizer is running). Therefore it is
passed as a paremeter of the Oncilla object. Made call to the
registerXXNode of the synchronizer in the initialization. Now a basic
setup will look like :

OncillaSynchronizerPtr s =

OncillaSynchronizerPtr(new OncillaXXXSynchronizer());

Oncilla oncilla(s);

while(true){

//use the robot

s->sync();

}

git-svn-id: https://redmine.amarsi-project.eu/svn/quaddrivers/trunk/liboncilla@53 2746b95a-9d07-46a8-bf26-348e1df0592e