“Travelogue,” featuring Cunningham’s choreography, a score by John Cage and reconstructions of its set and costumes by Rauschenberg, is normally a dance relegated to those lucky enough to have seen it live (the last professional performance was in 1979) or in photographs. In honor of Rauschenberg’s centennial, the Trisha Brown Dance Company has revived it on a wonderful double bill, “Dancing With Bob: Rauschenberg, Brown and Cunningham Onstage.”