Implement new PoseBroadcaster controller (backport #1311)

[mergify]

This PR implements a new broadcasting controller based on the PoseSensor semantic component introduced in ros-controls/ros2_control#1775.

As described in the PoseSensor PR, my primary use-case for this is the publishing of tcp poses from robot arms. This can be more accurate than calculating forward kinematics, as robot calibrations etc. can be considered by the robot. Settings on the robot side concerning tool offsets etc. can also be included by this (at least for UR and kuka RSI). The ROS 1 ur_robot_driver used to publish this transform directly from within the hardware interface, but in ROS 2 there is not yet a standard way for providing this information. A PR for the UR ROS 2 driver already exists at UniversalRobots/Universal_Robots_ROS2_Driver#1108.

This controller publishes poses directly as geometry_msgs::msg::PoseStampeds and as tf transforms (can be disabled).

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This is an automatic backport of pull request #1311 done by Mergify.

[codecov]

Codecov Report

Attention: Patch coverage is 69.36937% with 68 lines in your changes missing coverage. Please review.

Project coverage is 65.16%. Comparing base (54e72a2) to head (0071487).
Report is 1 commits behind head on iron.

Files with missing lines	Patch %	Lines
pose_broadcaster/test/test_pose_broadcaster.cpp	58.65%	0 Missing and 43 partials ⚠️
pose_broadcaster/src/pose_broadcaster.cpp	76.47%	11 Missing and 9 partials ⚠️
pose_broadcaster/test/test_pose_broadcaster.hpp	83.33%	0 Missing and 3 partials ⚠️
...se_broadcaster/test/test_load_pose_broadcaster.cpp	86.66%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1327      +/-   ##
==========================================
+ Coverage   65.05%   65.16%   +0.11%     
==========================================
  Files         103      107       +4     
  Lines       11899    12121     +222     
  Branches     7306     7441     +135     
==========================================
+ Hits         7741     7899     +158     
- Misses       1529     1546      +17     
- Partials     2629     2676      +47     

Flag	Coverage Δ
unittests	65.16% <69.36%> (+0.11%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...se_broadcaster/test/test_load_pose_broadcaster.cpp	86.66% <86.66%> (ø)
pose_broadcaster/test/test_pose_broadcaster.hpp	83.33% <83.33%> (ø)
pose_broadcaster/src/pose_broadcaster.cpp	76.47% <76.47%> (ø)
pose_broadcaster/test/test_pose_broadcaster.cpp	58.65% <58.65%> (ø)

... and 3 files with indirect coverage changes