* refine fleetrun.ps_launch

* update fleet run for multi device support

* ps_graph support ps-gpu

* fix heter save

* add heter save unittest

* fix unittest & simple code

* update fleetrun

* fix fleetrun

* fix launch barrier

* fix role maker

* add paddlecloud rolemaker unittest

* rename heter_worker_device_guard

* add launch_ps module so that we can launch a parameter server training job
1) a user can specify worker_num and server_num
2) parameter server can be killed after all workers exit
3) unit test is added
test=develop