Port end effector trajectory controller from Angler (backport #54)

[mergify]

Changes Made

This PR ports the end effector trajectory controller from Angler to this repository. The controller interpolates end effector motion plans using linear interpolation and spherical linear interpolation.

Associated Issues

• Fixes Implement an end effector trajectory controller #53

Testing

Testing was done in Gazebo using Blue. The Blue documentation has been updated (in the PR that I don't feel like linking right now) to include a tutorial demonstrating how to use this feature.

---

This is an automatic backport of pull request #54 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	new file:   auv_control_msgs/action/FollowEndEffectorTrajectory.action
	new file:   auv_control_msgs/msg/EndEffectorTrajectory.msg
	new file:   auv_control_msgs/msg/EndEffectorTrajectoryControllerState.msg
	new file:   auv_control_msgs/msg/EndEffectorTrajectoryPoint.msg
	new file:   end_effector_trajectory_controller/CMakeLists.txt
	new file:   end_effector_trajectory_controller/LICENSE
	new file:   end_effector_trajectory_controller/README.md
	new file:   end_effector_trajectory_controller/end_effector_trajectory_controller.xml
	new file:   end_effector_trajectory_controller/include/end_effector_trajectory_controller/end_effector_trajectory_controller.hpp
	new file:   end_effector_trajectory_controller/include/end_effector_trajectory_controller/trajectory.hpp
	new file:   end_effector_trajectory_controller/package.xml
	new file:   end_effector_trajectory_controller/src/end_effector_trajectory_controller.cpp
	new file:   end_effector_trajectory_controller/src/end_effector_trajectory_controller_parameters.yaml
	new file:   end_effector_trajectory_controller/src/trajectory.cpp
	new file:   media/teleop.gif
	new file:   media/uvms.gif

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   README.md
	deleted by us:   auv_control_demos/CHANGELOG.md
	both modified:   auv_control_demos/package.xml
	deleted by us:   auv_control_msgs/CHANGELOG.md
	both modified:   auv_control_msgs/CMakeLists.txt
	deleted by us:   auv_control_msgs/msg/IKControllerStateStamped.msg
	both modified:   auv_control_msgs/package.xml
	deleted by us:   auv_controllers/CHANGELOG.md
	both modified:   auv_controllers/package.xml
	deleted by us:   controller_common/CHANGELOG.md
	deleted by us:   controller_common/include/controller_common/common.hpp
	deleted by us:   controller_common/package.xml
	deleted by us:   controller_common/src/common.cpp
	deleted by us:   ik_solvers/CHANGELOG.md
	deleted by us:   ik_solvers/include/ik_solvers/solver.hpp
	deleted by us:   ik_solvers/include/ik_solvers/task_priority_solver.hpp
	deleted by us:   ik_solvers/package.xml
	deleted by us:   ik_solvers/src/solver.cpp
	deleted by us:   ik_solvers/src/task_priority_solver.cpp
	deleted by us:   thruster_allocation_matrix_controller/CHANGELOG.md
	both modified:   thruster_allocation_matrix_controller/package.xml
	deleted by us:   thruster_controllers/CHANGELOG.md
	both modified:   thruster_controllers/package.xml
	deleted by us:   topic_sensors/CHANGELOG.md
	deleted by us:   topic_sensors/package.xml
	deleted by us:   velocity_controllers/CHANGELOG.md
	both modified:   velocity_controllers/package.xml
	deleted by us:   whole_body_controllers/CHANGELOG.md
	deleted by us:   whole_body_controllers/CMakeLists.txt
	deleted by us:   whole_body_controllers/include/whole_body_controllers/ik_controller.hpp
	deleted by us:   whole_body_controllers/package.xml
	deleted by us:   whole_body_controllers/src/ik_controller.cpp

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally