refactoring of MQTT code. not fully tested yet.

CMakeLists.txt

launch/simulation_rosrag.launch

launch/simulation_rosrag_test.launch

launch/simulation_test_test.launch

package.xml

src/MqttRosConnectionTestNode.cpp

src/MqttToRosNode.cpp

src/RobotStateProvider.cpp

src/SafetyAwarePlanner.cpp

src/SafetyEnvironmentCreator.cpp

src/TimedPlanner.cpp

src/mem_persistence.cpp

src/robot_control_node.cpp

src/samples/SampleConstraintPlanner.cpp

src/samples/SampleTimedCartesianPlanner.cpp

src/tutorial/motion_planning_api_tutorial.cpp

src/tutorial/move_group_interface_tutorial.cpp

src/util/MqttUtil.cpp

src/util/MqttUtil.h