Too many joints being published to joint_states

[JuanDelAguila]

@joaomoura24 and I have noticed that there is a lot of joint information being published to the /joint_states topic that is not useful as it does not correspond to mobile joints in the robot. Perhaps only the data for the mobile joints should be published? This would facilitate the transition from RPBI to the real robot since the robot only publishes these joint states.

@joaomoura24 - Please feel free to add any further comments.