Add a generic RTDE data publisher

[urfeex]

Feature summary

We could add a ROS node that takes an RTDE output recipe and publishes all data from that recipe to a topic per recipe field.

That node would implement an RTDE client having a conversion mechanism for all RTDE fields. This has been discussed in UniversalRobots/Universal_Robots_ROS_Driver#35 in the past, but with this node I would suggest to have something that would be a literal abstraction of the RTDE interface.
It would be a standalone RTDE client, as there can be more than one RTDE clients active at the same time.

Related issues

• Rtde recipe publishing Universal_Robots_ROS_Driver#35
• Publish "actual_TCP_speed" data field in hardware interface Universal_Robots_ROS_Driver#62

Tasks

To complete this issue involves

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