Added joint velocity and timestamp to server update message

Description

• Added joint velocity and timestamp to server update message
• Now using firmware velocities instead of software velocities in some places
• Some gain tuning (not final)

What to focus on

all changes

Reviewers

• @heather
• @cw
• @amyblank
• @bz
• @ps

Resources

Issues

What issues does this fix?

• Fixes #issue-number