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Closes #18

As described in the issue, add a boolean flag that allows users to choose whether to set each entity property or ignore it.
Note that booleans being booleans there are two ways we can do this, each with tradeoffs.
I went for a set_[property] approach since I feel it's generally clearer than ignore_[property] (you don't need to negate in your head!) but really the main consideration should be with message default initialization of the boolean to false, whether we want to "set by default" (ignore_[property] flag) or "ignore by default" (set_[property] flag).

Signed-off-by: Luca Della Vedova <[email protected]>
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Consider allowing setting of only pose / twist

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