add tinyxml, urdfdom and urdfdom_headers from https://github.com/ros/urdfdom

(removed BOOST dependency and make it compile on Windows)

btgui/urdf/urdfdom/urdf_parser/test/memtest.cpp

@@ -0,0 +1,20 @@
+#include "urdf_parser/urdf_parser.h"
+#include <fstream>
+#include <iostream>
+
+int main(int argc, char** argv){
+  while (true){
+    std::string xml_string;
+    std::fstream xml_file(argv[1], std::fstream::in);
+    while ( xml_file.good() )
+    {
+      std::string line;
+      std::getline( xml_file, line);
+      xml_string += (line + "\n");
+    }
+    xml_file.close();
+
+
+    urdf::parseURDF(xml_string);
+  }
+}