Realtime tools migration

[URJala]

Changes all our realtime_tools containers to RealtimeThreadSafeBox, seems like that is fine everywhere.
Also made it so that any reading or writing done outside of real-time threads will retry 10 times before failing.

[codecov]

Codecov Report

❌ Patch coverage is 0% with 220 lines in your changes missing coverage. Please review.
✅ Project coverage is 4.84%. Comparing base (1b121b7) to head (3c07a1b).
⚠️ Report is 478 commits behind head on main.

Files with missing lines	Patch %	Lines
...trollers/src/passthrough_trajectory_controller.cpp	0.00%	150 Missing ⚠️
ur_controllers/src/tool_contact_controller.cpp	0.00%	50 Missing ⚠️
ur_controllers/src/force_mode_controller.cpp	0.00%	12 Missing ⚠️
ur_controllers/src/ur_configuration_controller.cpp	0.00%	8 Missing ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##            main   #1474      +/-   ##
========================================
+ Coverage   3.59%   4.84%   +1.25%     
========================================
  Files         13      33      +20     
  Lines        947    3590    +2643     
  Branches     152     467     +315     
========================================
+ Hits          34     174     +140     
- Misses       843    3414    +2571     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	4.84% <0.00%> (+1.25%)	⬆️

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