Upgrade to Upstream rosbridge and roslibjs

[amalnanavati]

Describe this pull request. Link to relevant GitHub issues, if any.

In service of #97 . This PR was developed and tested with the latest version of roslibjs and rosbridge's source code. Everything worked but action cancellation, which is due to an issue in when rosbridge considers the "send_action_goal" operation to be done.

I'm leaving this PR a draft, until the above issue is addressed.

Explain how this pull request was tested, including but not limited to the below checkmarks.

[TODO]

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