Fix pub rate

There appears to be a typo in the loop parsing the input packet from Rainbow. It seems to be publishing messages on each individual joint angle that it parses, instead of parsing all of them and then sending the message. This is forcing the robot_state_publisher to run too often, leading to a lot of traffic, huge recorded bag files, and high CPU usage. 

Also it is publishing a whole lot of logging info that probably isn't necessary anymore.