Support PolyScopeX robots (backport #1318)

[mergify]

Since PolyScopeX robots don't have a dashboard server, we'll have to make sure to

a) not start the dashboard client when interacting with a PolyScopeX robot
b) replace the robot_state_helper's functions to the dashboard server with primary_client API calls.

This requires UniversalRobots/Universal_Robots_Client_Library#296 to work.

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This is an automatic backport of pull request #1318 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   ur_robot_driver/CMakeLists.txt
	modified:   ur_robot_driver/include/ur_robot_driver/dashboard_client_ros.hpp
	modified:   ur_robot_driver/include/ur_robot_driver/robot_state_helper.hpp
	modified:   ur_robot_driver/launch/ur_control.launch.py
	modified:   ur_robot_driver/src/dashboard_client_node.cpp
	modified:   ur_robot_driver/src/dashboard_client_ros.cpp
	modified:   ur_robot_driver/src/robot_state_helper_node.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   ur_robot_driver/src/robot_state_helper.cpp

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