Add audio_common_msgs and sound_play

[compiaffe]

Added dependencies to
audio_common_msgs and sound_play

[stonier]

@adamantivm this is a reasonable addition we should get in for kinetic. I don't like adding sound_play here though. It has code in that package - better if the msg in sound_play was actually in audio_common_msgs. We should push that as a change upstream.

If we do add sound_play, then test it first to make sure the generating code doesn't break.