Add schemas for launch and manifest files so they can be edited in nXml mode

tools/rosemacs/manifest.rnc

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+# A RELAX NG schema for manifest.xml files
+grammar {
+  start = package
+  package = element package { 
+    description,
+    author,
+    license,
+    review,
+    url,
+    (depend* & platform*)
+  }
+  description = element description {
+    attribute brief { text }?,
+    text
+  }
+  author = element author { text }
+  license = element license { text }
+  review = element review { 
+    attribute status { text },
+    attribute notes { text }
+  }
+  url = element url { text }
+  depend = element depend { attribute package { text } }
+  platform = element platform {
+    attribute os { text },
+    attribute version { text }
+  }
+}
+  
+    

tools/rosemacs/rng-schemas.xml

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+<?xml version="1.0"?>
+<locatingRules xmlns="http://thaiopensource.com/ns/locating-rules/1.0">
+  <uri pattern="*.launch" uri="roslaunch.rnc"/>
+  <documentElement localName="launch" uri="roslaunch.rnc"/>
+  <uri pattern="*manifest.xml" uri="manifest.rnc"/>
+</locatingRules>

tools/rosemacs/roslaunch.rnc

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+# A RELAX NG schema for ros launch files
+# Incomplete
+grammar {
+  start = launch
+  launch = element launch { master? & node* & param* & inc* }
+  master = element master { attribute auto { text } }
+  node = element node {
+           attribute name { text } &
+           attribute pkg { text } &
+           attribute type { text } &
+           attribute args { text }? &
+           attribute respawn { "true" | "false" }? &
+           attribute output { text }?
+         }
+  param = element param {
+            attribute name { text },
+            attribute value { text }
+          }
+  inc = element include {
+          attribute file { text }
+        }
+}