bdaiinstitute / spot_wrapper / 9386052844

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Added possibility to directly control the arm using an ArmVelocityCommand (#104)

## Change Overview

Added the ability to set a Velocity command for the arm. This enables a user to have direct translational and rotational  control of the TCP movement using a controller or any other input device. The corresponding [PR](https://github.com/bdaiinstitute/spot_ros2/pull/366) on the driver Repo provides a topic interface to send the corresponding movement command. 
The angular and Cartesian velocity were thoroughly tested during operation on our spot. For the cylindrical velocity I performed some basic tests but didn't evaluate over hours as the other two input methods since I don't really use them in this reference frame.

## Testing Done
    - [x] tested that these new functionality work on robot

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