Follow-up from "Robot state predictions"

The following discussion from !265 (merged) should be addressed:

• @RainerKartmann started a discussion:

  ToDo:

  • Move functions in simox_alg.hpp to Simox
  • Move the RobotStatePredictionClient to robot_state library in accord with @fabian.reister

added module::armem label

assigned to @RainerKartmann