p2os_urdf does not conform ros naming and FSH conventions

[progtologist]

According to the urdf and xacro guides, the package p2os_urdf needs restructuring and should comply to ROS standards to help maintainability and future upgrades.

[allenh1]

Could you attempt to resolve this issue while I am fixing the coding style issue?

[progtologist]

Yes, I will work on that and issue PR as soon as this is ready!

[progtologist]

We should move the p2os_publisher functionality to the driver. Since the publication of the joint states is actually something that the driver should be doing, and not the urdf file. This way the gazebo plugin (which publishes the joint states) will cause no conflicts (either you run the driver node and get the states from the actual robot, or you run gazebo and get the states from the simulated robot).

I will integrate this change in my PR, is this ok with you?