Merge pull request #36 in SWDEV/franka_ros from...

Merge pull request #36 in SWDEV/franka_ros from feature/SWDEV-417-ros-publish-real-f_t_ee-and-ee_t_k to master

* commit 'cbcb1cc8dafd0e29b9ccfa0937b34c7986870f92':
  FrankaStatePublisher: Add dq_d.
  CMake: Use Franka::Franka target for libfranka.
  Remove some magic numbers, add assertions.
  Fix error in errorsToMessage function.
  Fixes for clang tidy
  Change name from trafo to stamped_transform
  fixed typo on var name
  updated Franka State message, connected tfs to robot state data
  publishing real EE_T_K