Support Gen3 lite Hardware (#73)

* Support Gen3 lite Hardware
* Fix launch for use_fake_hardware
* reverse gripper joints in URDF
* Improve Protective Stop Reset and General Driver Robusteness (#75)
* Add test huge joint space jump.

Co-authored-by: Abishalini <[email protected]>
Co-authored-by: livanov93 <[email protected]>

Author: 3 people

fault_controller/kortex2_controllers/README.md

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+# kortex2_controllers
+Package defining custom controllers created for kinova robots.
+- `kortex2_controllers::TwistController`
+- `kortex2_controllers::FaultController`
+
+
+## TwistController
+Cartesian twist controller created to use builtin controller on the kinova robot.
+
+### Usage
+Example of instance within `ros2_control` can be found in the [configuration file](../kortex2_bringup/config/kortex_controllers.yaml).
+Defined interfaces have to exist within the `hardware_interface::SystemInterface` implemented for the robot (e.g. driver).
+Stop any commanding controller and then start `TwistController`to use kinova's builtin cartesian twist controller.
+
+#### Note on controllers
+Exclusiveness logic is within the driver, and running joint-based and twist controller at the same time is not possible.
+Controller Manager (`ros2_control`) will try to activate both on request, but the hardware should reject it.
+
+```
+ros2 control switch_controllers --activate streaming_controller --deactivate joint_trajectory_controller
+```
+
+By publishing `geometry_msgs::msg::TwistStamped` to `/streaming_controller/commands`, the commands will be piped to the driver
+and streamed to the robot controller.
+
+## FaultController
+Controller used to reset faults on the kinova arm.
+
+### Usage
+Example of instance within `ros2_control` can be found in the [configuration file](../kortex2_bringup/config/kortex_controllers.yaml).
+Interfaces are already hardcoded in the `hardware_interface::SystemInterface` implemented for the robot (e.g. driver)
+
+Spawn `FaultController` if it is not already spawned
+
+```
+ros2 run controller_manager spawner fault_controller
+```
+
+On the topic `/fault_controller/internal_fault` of type `example_interfaces::msg::Bool` the
+information if robot is currently faulted can be found.
+
+Deactivate all the controllers using robot.
+```
+ros2 control swithc_controllers --deactivate joint_trajectory_controller gripper_controller
+```
+
+Call the service for resetting the fault (`example_interfaces::srv::Trigger`).
+
+```
+ros2 service call /fault_controller/reset_fault example_interfaces/srv/Trigger
+```
+
+Activate controllers to enable robot control.
+```
+ros2 control swithc_controllers --activate joint_trajectory_controller gripper_controller
+```