extended headik: multiple kinematic chains can be given and they are used one after another to find a solution

Improvement of KinemticUnitGui: Now, the robot file and the topic name is automatically queried from the kinemtic unit proxy.
Some re-connect fixes.

extended RobotStateComponent with a history of robot configurations, that can be used to query the robot state at any timepoint in the past (inside the size of the history)

DebugDrawer bugfix: remove unknown RobotNodes from robot update configuration list (caused an exception, which was not handled and caused a crash)
DebugDrawer fix: clear/remove layer was performed in ICE thread. Moved to QT safe thread.
Improve tests.

added colored point cloud version using 24bit for color (instead of 4*32) to the DebugDrawerComponent