armem_robot_state: updates

Changes:

• RobotReader: implemented getRobotJointState
• VirtualRobotReader: synchronizing robot when new one is requested
• new class VirtualRobotHelper that provides additional information e.g RobotInfoNode that is not part of the VirtualRobot::Robot data structure

source/RobotAPI/components/ArViz/Client/ScopedClient.cpp

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Fabian Reister ( fabian dot reister at kit dot edu )
+ * @date       2021
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+
+#include "ScopedClient.h"
+
+namespace armarx::viz
+{
+    ScopedClient::ScopedClient(const Client& client): Client(client) {}
+
+    Layer ScopedClient::layer(std::string const& name) const
+    {
+        layers.insert(name);
+
+        return Client::layer(name);
+    }
+
+    ScopedClient::~ScopedClient()
+    {
+        for (const auto& layer : layers)
+        {
+            Client::commitDeleteLayer(layer);
+        }
+    }
+
+}  // namespace armarx::viz