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Rtde recipe publishing#35

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Commits on Dec 19, 2019

• Added a Getter for the RTDE output recipe to be used in the hardware interface

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• Added functionality to check if a RTDE data package value is of a given type

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• Added generalized publisher to automatically publish RTDE data package values to ROS topics

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• No longer automatically publishes a list of data fields that are already manually published

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• Update ur_robot_driver/src/ros/hardware_interface.cpp

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• added Doxygen comments for data package publisher

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• switched from handling the data package as a unique pointer to a plain reference

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• added custom messages for RTDE data fields

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• Changed realtime publisher from unique_ptr to direct member

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• moved data_field_publisher to ros specific library

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• removed debug output from hardware_interface

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Commits on Dec 20, 2019

• added additional custom rtde data messages

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• implemented additional more specific publishers for various RTDE data fields

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• updated factory method to utilize new publishers

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Commits on Apr 23, 2020

• removed automatic "rtde_data/" prefix for publisher topics

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• added new node handle in rtde_data namespace to be used by rtde_data publishers

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• removed unused JointTemperaturePublisher class

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• removed _-prefix for typenames

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• fixed target_moment typo

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• added "robot_mode" and "safety_mode" to list of manually published rtde data fields

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• updated ur_rtde_msgts package metadata

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• formatting fix for hardware_interface

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