Add a PD control interface and a controller to that #1471
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Using set could potentially block the RT thread.
In the HW interface we check compatibility of different control resources. Before this change, we didn't mark the PD control mode as stopped properly making it impossible to use another controller after that. This fixes this and adds a test for that case.
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This adds the PD control mode from the client_library to ROS. In PD control mode the user can specify a target position (either in joint or in task space) and the robot will use a torque-control loop internally to reach that position.
This PR contains an example controller using a topic input for streaming targets to the robot. Topic communication might introduce a certain lack of determinism which is why it is probably best to write a controller fitting a custom use case from input to control target.
This builds upon #767 and requires UniversalRobots/Universal_Robots_ROS2_Description#302 and https://github.com/UniversalRobots/Universal_Robots_Client_Library/tree/torque_control to work, hence the draft.
ToDo's: