Added service to set force mode through ROS#603

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urmarp wants to merge 2 commits intoUniversalRobots:masterfrom

urmarp:force_mode

Commits on Jan 9, 2023

Added service to set force mode through ROS
urmarp
committed

Commits on Jan 30, 2023

Changed setForce mode to startForceMode and endForceMode. Also made changes to account for changes in msg in PR (https://github.com/ros-industrial/ur_msgs/pull/20)
urmarp
committed