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Update teleop script for ROS 2 + some refactoring #3

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- Add standard copyright/license header
- Replace use of rospy with crtk.ral
- Use float instead of int where required in some ros messages
- Remove 'press enter to continue'
servo_cp doesn't allow velocity, so MTM measured_cv cannot be used as
feedforward for PSM like we do in the actual teleop.
Replace DISABLED, SETTING_ARMS_STATE, ALIGNING_ARM, ENABLED
with ALIGNING, CLUTCHED, FOLLOWING
For some haptic devices used as MTM, such as Force Dimension, or Phantom
Omni, the wrist/orientation is unactuated so we disable alignment
requirements
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