Turn this app into a generic task launcher

[PeterBowman]

As a follow-up idea to #13, perhaps we could also turn these lines into a sequence of commands to be stored and parsed from text file (.ini):

teo-self-presentation/programs/DialogueManager/DialogueManager.cpp

Lines 196 to 266 in 64fd6fd

	speak("presentation_01");
	motion.doGreet();
	awaitMotionCompletion();
	motion.doHoming();
	awaitSpeechAndMotionCompletion();
	yarp::os::SystemClock::delaySystem(0.5);
	speak("presentation_02");
	motion.doExplanation2();
	awaitSpeechAndMotionCompletion();
	yarp::os::SystemClock::delaySystem(1.0);
	speak("composition_01");
	motion.doExplanation1();
	awaitSpeechCompletion();
	yarp::os::SystemClock::delaySystem(2.0);
	speak("composition_02");
	awaitMotionCompletion();
	yarp::os::SystemClock::delaySystem(1.0);
	motion.doExplanation3();
	awaitSpeechAndMotionCompletion();
	speak("composition_03");
	motion.doExplanationHead();
	awaitSpeechAndMotionCompletion();
	speak("composition_04");
	motion.doExplanationRightPC();
	awaitSpeechCompletion();
	speak("composition_05_01");
	awaitSpeechAndMotionCompletion();
	speak("composition_05_02");
	motion.doExplanationLeftPC();
	awaitSpeechAndMotionCompletion();
	speak("composition_05_03");
	motion.doExplanationInsidePC();
	awaitSpeechAndMotionCompletion();
	speak("composition_06");
	motion.doExplanationHDD();
	awaitSpeechAndMotionCompletion();
	speak("composition_07");
	motion.doExplanation2();
	awaitSpeechAndMotionCompletion();
	speak("composition_08");
	motion.doExplanationSensors();
	awaitSpeechAndMotionCompletion();
	yarp::os::SystemClock::delaySystem(1.0);
	speak("purpose_01");
	motion.doExplanation1();
	awaitSpeechAndMotionCompletion();
	yarp::os::SystemClock::delaySystem(1.0);
	speak("purpose_02");
	motion.doExplanation4();
	awaitSpeechAndMotionCompletion();
	yarp::os::SystemClock::delaySystem(2.0);
	speak("ending_01");
	motion.doHoming();
	awaitSpeechAndMotionCompletion();

Such commands would currently span to: perform motion, synthesize voice, await execution and speech, sleep a specified amount of time... This has the potential to become generic enough for any other demos, too, as long as the initial configuration also enables the required flexibility (in that vein, perhaps yarprobotinterface would be of help, see roboticslab-uc3m/yarp-devices#271).