Fix getRandomColor so it returns ColorRGBA #2
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getRandomColor() is described as a function that returns a ColorRGBA color rather than a color name.
This pull request fixed the problem and moved the color name list to the class, so it does not need to be constructed every time the getRandomColor() is called.
Since now getRandomColor returns a ColorRGBA type properly, for ease of use (e.g. call getRandomColor() directly in any publish marker functions, like what the demo.py demonstrates in random color cylinder method 1), getColor() now handles ColorRGBA type as well.