Aikidopy uses outdated WorldInteractiveMarker

[egordon]

Aikidopy relies on the deprecated WorldInteractiveMarkerViewer which was removed in https://github.com/personalrobotics/aikido/pull/521

This updates that interface.

Note: this depends on #598 , as this should fix the one failing (not required) test.

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Before creating a pull request

• [x] Document new methods and classes
• [x] Format code with make format

Before merging a pull request

• [x] Set version target by selecting a milestone on the right side
• [x] Summarize this change in CHANGELOG.md
• [x] Add unit test(s) for this change

[sniyaz]

Heads up: I changed the base branch to your GH actions one so we can see a better diff.

This seems mostly fine, I just left two comments: I'm a bit confused since those changes don't seem to relate to WorldInteractiveMarkerViewer -> InteractiveMarkerViewer

[egordon]

@sniyaz Responded for review comments and updated CHANGELOG. Ready for re-review