RLS — Structural change for RoLo Service class

The RoLo Service class may be modified not to inherit OutStream
class, as to clarify its functionality. In order for this change, the
following modification are required: 1. Change description at the
beginning of 7.5 Service Interface, 2. UML diagram fix, and 3. add
some attributes that were inherited from OutStream class. (Originally
proposed by Mr. Han, ETRI)

In the beta1 specification, the RoLo service class which denotes the service
interface for Robotic Localization Service was described to be inherited from
OutStream class which denotes data output stream. This issue points out that
although from the point of functionality this is sufficient, from the meaning of the
classes this is somewhat misleading. Thus, we decided to change the structure
of RoLo service class so that it will not be inherited from OutStream, but instead
will contain OutStream instances as well as InStream instances.
Based on the proposed solution, we made a reconstruction of RoLo Service
class and related classes. Based on this change, some additional description is
also added for clarity.