RobotUnit with global robot pose information

Until now, the virtual robot that is available in the njoint controllers did not provide the robot's global pose. There exists a workaround to set the global-to-odom transformation via an Ice interface but imho the global pose should be available natively.

The changes are as follows:

• a new device and corresponding sensor value are now available. The platform unit now has an additional topic subscription to retrieve the global-to-odom transformation from SLAM, e.g. the cartographer. Once such a transformation is received, it is stored in a triple buffer and copied over in the RT thread.
• the virtual robot that is available in the njoint controllers now has the correct information about the robot's global pose

ToDo:

• Test on ARMAR-6

Further changes: (PRs coming soon)

• RobotComponents: https://gitlab.com/ArmarX/RobotComponents/-/merge_requests/59
• ArmarXSimulation: https://gitlab.com/ArmarX/ArmarXSimulation/-/merge_requests/43