Remove unused stuff, fix includes, use less auto, remove unused code

...onents/armem/server/RobotStateMemory/RobotStateMemory.cpp

...mponents/armem/server/RobotStateMemory/RobotStateMemory.h

...armem_objects/server/articulated_object_class/Segment.cpp

...armem_robot_state/client/localization/TransformWriter.cpp

...ibraries/armem_robot_state/server/description/Segment.cpp

.../libraries/armem_robot_state/server/description/Segment.h

...braries/armem_robot_state/server/localization/Segment.cpp

...libraries/armem_robot_state/server/localization/Segment.h

...aries/armem_robot_state/server/proprioception/Segment.cpp

...braries/armem_robot_state/server/proprioception/Segment.h