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_utils/iiwa_utils/setting_loader.py

@@ -17,6 +17,7 @@ class RobotCfg:
     description: str
     fri_cycle_ms: int
     joint_position_tau: float
+    active_controller: str  # "jtc" | "forward"
 
 
 @dataclass(frozen=True)
@@ -250,6 +251,7 @@ def build_settings(settings_path: str, check_files: bool = True) -> Settings:
         description=resolve_path(str(require(robot_raw, "description")), settings_dir),
         fri_cycle_ms=int(robot_raw.get("fri_cycle_ms", 5)),
         joint_position_tau=float(robot_raw.get("joint_position_tau", 0.04)),
+        active_controller=str(robot_raw.get("active_controller", "jtc")),
     )
 
     # digital_twin