Enhance IIWA Robot Configuration and Launch Files

- Updated iiwa7 URDF Xacro to include command and state interfaces for position and effort with defined limits for all joints.
- Modified setting_loader.py to include new fields for command_mode and description in the RobotCfg dataclass and settings loading process.
- Created iiwa.launch.py to manage the launch of the IIWA robot, integrating MoveIt configurations and RViz support.
- Added iiwa_controllers.launch.py to set up the controller manager and spawner for the IIWA robot.
- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface for the KUKA IIWA 7 robot.
- Added iiwa7_fri.urdf.xacro to support FRI (Fast Robot Interface) with appropriate command and state interfaces for each joint.

src/iiwa_config/config/setting.yaml

@@ -1,7 +1,10 @@
 robot:
   name: "iiwa7"
-  ip: "192.168.21.144"
-  port: 3000
+  ip: "192.170.10.2"
+  port: 30200
+  command_mode: "position" # torque, position
+  description: pkg://iiwa_description/urdf/iiwa7_fri.urdf.xacro
+
 
 digital_twin:
   webots: