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_description/urdf/iiwa7.urdf.xacro

@@ -8,6 +8,11 @@
     <xacro:arg name="fri_port" default="30200"/>
     <xacro:arg name="command_mode" default="position"/>
     <xacro:arg name="joint_position_tau" default="0.04"/>
+    <!-- iiwa_controller_v2: новые параметры. Убери эти строки при откате на v1 -->
+    <xacro:arg name="open_loop" default="true"/>
+    <xacro:arg name="rt_prio" default="80"/>
+    <xacro:arg name="external_torque_safety_check" default="true"/>
+    <xacro:arg name="external_torque_limit" default="2.0"/>
 
     <xacro:property name="initial_positions"
                     value="${xacro.load_yaml('$(arg initial_positions_file)')['initial_positions']}"/>
@@ -142,12 +147,33 @@
 
         <ros2_control name="iiwaFRIControl" type="system">
             <hardware>
+                <!-- ════════════════════════════════════════════════════════
+                     АКТИВНЫЙ ПЛАГИН: iiwa_controller_v2
+                     Чтобы вернуть v1 — раскомментируй блок v1 ниже
+                     и закомментируй блок v2.
+                     ════════════════════════════════════════════════════════ -->
+
+                <!-- ── v2 (активен) ──────────────────────────────────────── -->
+                <plugin>iiwa_controller_v2/SystemInterface</plugin>
+                <param name="robot_ip">$(arg robot_ip)</param>
+                <param name="fri_port">$(arg fri_port)</param>
+                <param name="simulate">false</param>
+                <param name="command_mode">$(arg command_mode)</param>
+                <param name="joint_position_tau">$(arg joint_position_tau)</param>
+                <!-- новые параметры v2: -->
+                <param name="open_loop">$(arg open_loop)</param>
+                <param name="rt_prio">$(arg rt_prio)</param>
+                <param name="external_torque_safety_check">$(arg external_torque_safety_check)</param>
+                <param name="external_torque_limit">$(arg external_torque_limit)</param>
+
+                <!-- ── v1 (закомментировано) ─────────────────────────────
                 <plugin>iiwa_controller/IIWAHardwareInterface</plugin>
                 <param name="robot_ip">$(arg robot_ip)</param>
                 <param name="fri_port">$(arg fri_port)</param>
                 <param name="simulate">false</param>
                 <param name="command_mode">$(arg command_mode)</param>
                 <param name="joint_position_tau">$(arg joint_position_tau)</param>
+                ─────────────────────────────────────────────────────────── -->
             </hardware>
 
             <joint name="joint1">