Robot Raconteur integration

[johnwason]

I started working on a Robot Raconteur service for Tesseract planning, although I think it is out of date with the current API changes: https://github.com/tesseract-robotics/tesseract_robotraconteur

The Robot Raconteur service currently doesn't have a visualization component. I was planning to adapt tesseract_viewer_python, but tesseract_qt might also work. How would I go about replacing the ignition transport with a Robot Raconteur service? Can I modify tesseract_visualization?