Teach mode node initialisation fix

[georgiablanco]

Proposed changes

new initialisation method t to wait for the joint states to be published for a specified timeout in increments of 10 seconds.

Checklist

Before posting a PR ensure that from each of the below categories AT LEAST ONE BOX HAS BEEN CHECKED. If more than one category is applicable then more can be checked. Also ensure that the proposed changes have been filled out with relevant information for reviewers.

Tests

• [ ] No tests required to be added. (For small changes that will be tested by CI/CD infrastructure).
• [ ] Added/Modified automated and PhantomHand CI tests (if a new class is added (Python or C++), the interface of that class must be unit tested).
• [ ] Manually tested in simulation (if simulation specific or no hardware required to test the functionality).
• [x] Manually tested on hardware (if hardware specific or related).

Documentation

• [x] No documentation required to be added.
• [ ] Added documentation (For any new feature, explain what it does and how to use it. Write the documentation in a relevant space, e.g. Github, Confluence, etc).
• [ ] Updated documentation (For changes to pre-existing features mentioned in the documentation).

[codecov[bot]]

Codecov Report

Merging #821 (6ec8809) into noetic-devel (b2359db) will not change coverage. The diff coverage is n/a.

@@              Coverage Diff              @@
##           noetic-devel     #821   +/-   ##
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  Coverage         17.31%   17.31%           
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  Files                12       12           
  Lines               999      999           
  Branches            637      637           
=============================================
  Hits                173      173           
  Misses              543      543           
  Partials            283      283