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

Christoph Pohl requested to merge fix/bad_weak_ptr-RobotStateComponentPlugin into master

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

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