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Port robot_state_helper from ROS1 #844

@fmauch

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@fmauch

Feature summary

Port state helper node from ROS 1

https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/src/robot_state_helper.cpp

Related issues

Some work has been done in #6

Tasks

To complete this issue involves

  • Implement the feature
  • Make documentation
  • Make Unit test
  • Test on real hardware

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