Add RobotModeDataMsg (#395)

* Add RobotModeDataMsg

* msg: clarify that not all fields from RobotMode are published

ur_msgs/CMakeLists.txt

@@ -15,6 +15,7 @@ add_message_files(
    IOStates.msg
    RobotStateRTMsg.msg
    MasterboardDataMsg.msg
+   RobotModeDataMsg.msg
    ToolDataMsg.msg
 )
 

ur_msgs/msg/RobotModeDataMsg.msg

+# This data structure contains the RobotModeData structure
+# used by the Universal Robots controller
+#
+# This data structure is send at 10 Hz on TCP port 30002
+#
+# Note: this message does not carry all fields from the RobotModeData structure as broadcast by the robot controller, but a subset.
+
+uint64 timestamp
+bool is_robot_connected
+bool is_real_robot_enabled
+bool is_power_on_robot
+bool is_emergency_stopped
+bool is_protective_stopped
+bool is_program_running
+bool is_program_paused