Add iiwa_controller_v2: Implement hardware interface for KUKA iiwa7 via FRI

- Introduced iiwa_hardware_interface_plugin.xml to define the hardware interface.
- Created command_guard.hpp to enforce joint limits for position and torque commands.
- Developed fri_client.hpp and fri_client.cpp to manage FRI communication and state snapshots.
- Implemented system_interface.hpp and system_interface.cpp for lifecycle management and command handling.
- Added system_interface_type_values.hpp for extended state interface names.
- Defined package.xml for ROS2 integration with necessary dependencies.

src/iiwa_bringup/launch/iiwa.launch.py

@@ -172,6 +172,7 @@ def _runtime_setup(context, *args, **kwargs):
             "controller_timer": str(settings.digital_twin.webots.controller_timer),
             "fri_cycle_ms": str(settings.robot.fri_cycle_ms),
             "joint_position_tau": str(settings.robot.joint_position_tau),
+            "controller": settings.robot.active_controller,
         }
 
     controllers_launch = IncludeLaunchDescription(