refactor data sharing
refactoring for multiple robots and bug in port assignement
improve message size assert
Modified to allow 2 robots at the same time
fix build errors and the scheduling policy setting
both arms at the same time!
fixed messages and some startup issues
-added scripts to record and reach positions
-filter erroneous joint states
better communication error handling
minor fixes for 2 arms simultanesously
add position and speed limits
include urdfs
rename urdf to avoid conflict