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Add acceleration to JointState

Guilhem Saurel requested to merge github/fork/wxmerkt/patch-1 into master

Created by: wxmerkt

We noticed that we need to transmit accelerations as well for use in controllers. No other message package (e.g. xpp_msgs) fits the full message set we need to transmit. Adding acceleration to the JointState is the easiest way to expose this extra information. Unfortunately this makes previous messages incompatible again.

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