Refactor iiwa_controller_v2: Remove obsolete files and update URDF parameters

- Deleted `system_interface_type_values.hpp`, `package.xml`, `fri_client.cpp`, and `system_interface.cpp` as part of the cleanup process.
- Updated `iiwa7.urdf.xacro` to remove deprecated parameters and adjust command interface settings.
- Modified joint definitions in `joints.xacro` to include new friction and soft limit parameters.
- Enhanced `macros.xacro` to support additional joint properties for friction and safety control.
- Adjusted mass properties in `params.xacro` to reflect accurate values for the robot's components.

src/iiwa_config/config/moveit/iiwa_controller.yaml

@@ -18,8 +18,10 @@ joint_state_broadcaster:
       - velocity
       - effort
       - external_torque
-      - commanded_torque
-      - ipo_joint_position
+      # commanded_torque и ipo_joint_position доступны только при активном v2
+      # при переключении на v2 — раскомментировать:
+      # - commanded_torque
+      # - ipo_joint_position
 
 iiwa_arm_controller:
   ros__parameters: