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Resolve "Modifications in ros_datahandler for improved ML connection"

Merged Resolve "Modifications in ros_datahandler for improved ML connection"
3-modifications-in-ros_datahandler-for-improved-ml-connection into main
Merged Kevin Haninger requested to merge 3-modifications-in-ros_datahandler-for-improved-ml-connection into main

Add transforms and types to ros_datahandler.

Closes #3 (closed)

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