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months from Apply Clear

Tasks #2602: Merge RCT from the github repositories
Tasks #2603: Move internal transform type to RST
Tasks #2604: Create transformation type which holds multiple transformations
Bug #2605: Eliminate ROS dependency
Bug #2606: Eliminate timestamp field in the Transformation RST
Bug #2607: Fix performance issues
Bug #2613: rct requests and current system time
RSB Coordinate Transform
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