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Renamed variables in contact state

Guilhem Saurel requested to merge github/fork/cmastalli/topic/contact-state into master

Created by: cmastalli

Unfortunately, the current version of the ContactState.msg does not follow a standard. This modification breaks the API, as the old-stored messages won't be compatible.

Therefore, this modification will lead to a jump in the version. @wxmerkt - I won't merge this PR until our packages are compatible.

Final note If you have stored a rosbag with previous standard, then you will need to use v0.0.1.

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