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Split joint angle and pose history in robot state component

Rainer Kartmann requested to merge pose-history-in-robot-state-component into master

In preparation of adding time stamps to robot pose updates in RobotStateComponent, we (me and @paus.fabian) split the robot state history (which contained joint angles and robot pose with common time stamps) into separate histories for joint angles and robot poses (with separated time stamps).

Currently the code is functionally equivalent (tested in simulation).

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