We should make services instead of topics

[DanielLSM]

The environment is better wrapped if we use services. By using Topics we make the environment highly non-markovian (different number of steps pass between each action, depending on the time the algorithm takes to process).

[oscar-lima]

• Daniel said (on fb) : making sure that everything is kinda synced and the best way to do it would be to implement a service instead of using topics

[oscar-lima]

• I think we can solve this by using joint states ros msg so data is sync. Will work on it now

[oscar-lima]

done!