Update of syntax (was not compiling anymore)

[gborghesan]

The main change is that I corrected getChannel with getConnection.

I moved the documentation in the readme.MD file, to show up on the GitHub page.

[jmachowinski]

FYI : There is another project that does something similar :
https://github.com/rock-cpp/rtt_introspection/
It is code wise integrated with the rock framework, but the mechanism used to find the connection
matching might be interesting for you.