Set-Noise-Profile ROS Service check for audio-data-format using mimes

[klpanagi]

For example:
A 1-channel, wav-encoded audio data file without a '.wav' extension should be processed correctly.

[etsardou]

I am moving this to v0.7 milestone because:

• The same happens with the speech detection services
• If we add this functionality, the audio_type parameter should be erased from the services' inputs
• The python-magic library can identify the file type, but for ogg files returns the same as wav, so it must be investigated.