[munseng-flexiv]

Forward-ports the remaining features and bug fixes of the Jazzy v1.9.4 release (#136) to release/lyrical-v1.9.4. The AICO2 external axis types (#128) were already forward-ported in #131 and are not part of this PR.

Features

• Cartesian motion-force control (forward-port Feature/Add Cartesian Motion Force control interface #132): new cartesian_motion_force_controller package, Cartesian pose/wrench/velocity interfaces on the hardware interfaces, CartesianMotionForceConfigNode services (impedance, motion limits, max contact wrench, null-space posture/objectives, force control axis/frame, passive force control), flexiv_msgs/CartesianMotionForce plus the new services, and the cartesian_motion_force_example test node. Selected with robot_controller:=cartesian_motion_force_controller.
• Real-time RDK control modes (forward-port Feature/Add option to start RDK in realtime (RT) control modes #134): new rdk_realtime_mode and withhold_on_timeliness_failure launch arguments.
• Joint motion limits support and the related configuration.

Bug fixes

• MoveIt Servo: launch the servo_node executable and update the Servo config.
• Dual arm torque and velocity control, and gpio_controller reactivation (the publisher is now kept across deactivate/activate).
• Gripper action completion, force limits and tool selection.
• AICO1-4-V2 actuated joints and SRDF collisions.
• Robot states broadcaster: TCP-frame IDs for the TCP wrenches, and a null-safe robot states pointer. The broadcaster no longer depends on flexiv_hardware.