skill provider usability updates

See merge request ArmarX/RobotAPI!286

switched to armarx::duration for skill descriptions, force lambda skills to return a skillstatus, added return structs for init and exit

Prevent 'bad weak_ptr exception' when copying return from getRobotNameHelper()

See merge request ArmarX/RobotAPI!284

The RobotNameHelper uses shared_from_this, which
makes copying the class very dangerous. E.g. an 'auto
rnh = getRobotNameHelper();' inevitably lead to this
error as the the rnh was copied (returned const ref
and auto drops const refs --> the type of rnh was
RobotNameHelper). To prevent this happening to
unknowing users, it now returns a shared_ptr:

Signed-off-by: robdekon_h2t <robdekon@kit.edu>

Refactored skill framework and added new enum classes so that a skill can not return idle or running as terminating value

skill provider usability updates. Made virtual methods of skills private and added public non-virtual entry methods to call skills

SickLaserUnit: using cmake target instead of custom mechanism

See merge request ArmarX/RobotAPI!280

removing add_definitions: its affecting all targets. now, it's being set via the imported target sick_scan_base::sick_scan_generic

Fix ukfm static dimension

See merge request ArmarX/RobotAPI!279