Scaling support for RobotStateComponent (also fixes issues with poses of scaled models in the world)

Improvement of KinemticUnitGui: Now, the robot file and the topic name is automatically queried from the kinemtic unit proxy.
Some re-connect fixes.

extended RobotStateComponent with a history of robot configurations, that can be used to query the robot state at any timepoint in the past (inside the size of the history)