Buggy State Converter Rewrite

[saransh323]

What type of PR is this? (check all applicable)

• Refactor
• Feature
• Bug Fix
• Optimization
• Documentation Update

Description

Rewrote/wrote a state converter node to convert raw_state to clean state for both SC and NAND. Benefits: unit and format conversion not done in arbitrary files anymore.

Related Tickets & Documents

• Related Issue #
• Closes #

QA Instructions, Screenshots, Recordings

Test this node by checking if the node converts raw values exactly as they were converted in pre-refactor code.

Added/updated tests?

We encourage you to keep the code coverage percentage at 80% and above.

• Yes: tested with simulation and rosbag data, checked if conversion/copying is correctly executed for NAND/self, SC/self, and SC/other
• No, and this is why: please replace this line with details on why tests
  have not been included
• I need help with writing tests

[optional] Are there any post deployment tasks we need to perform?

raw_state topics have to be created and published to

[optional] What gif best describes this PR or how it makes you feel?