ros2_control simplification and add arm_activate arg

[rafal-gorecki]

bump::minor

Description:

• Reduce number of controller config files
• Reduce spawn multiple controller in one spawner
• Add activate_arm arg
• Add a script to activate/deactivate the arm
• imu_broadcaster/imu ->imu/data

[husarion-inframan]

Backport failed for humble, because it was unable to cherry-pick the commit(s).

Please cherry-pick the changes locally and resolve any conflicts.

git fetch origin humble
git worktree add -d .worktree/backport-157-to-humble origin/humble
cd .worktree/backport-157-to-humble
git switch --create backport-157-to-humble
git cherry-pick -x 7ca01e0fc5f867e00a6205aa75b3485945a0126d