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_config/config/setting.yaml

@@ -5,6 +5,7 @@ robot:
   command_mode: "position" # torque, position
   fri_cycle_ms: 5          # период FRI-цикла: 5 мс (200 Гц) или 10 мс (100 Гц)
   joint_position_tau: 0.04  # постоянная времени фильтра позиций [с]: больше → плавнее, медленнее
+  active_controller: "jtc"  # "jtc" = MoveIt/JointTrajectoryController, "forward" = ForwardCommandController
   description: pkg://iiwa_description/urdf/iiwa7.urdf.xacro