bdaiinstitute / spot_ros2 / 11164121296
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[SW-1391] controller that lets you specify position, velocity, and load at the same time  (#493)

## Change Overview

Adds a new package `spot_controllers` that can contain custom ros2 controllers for spot. 

Adds a custom controller `forward_state_controller`. This uses the same base class that the built-in `forward_command_controller` and `multi_interface_forward_command_controller` use. The main difference is that this controller accepts a list of joints and a list of interfaces to forward commands over.  This controller is then set up with `spot_ros2_control` so that you can forward a list of position, velocity, and load commands to the low level API at the same time. 

To launch with this controller add the launch argument `robot_controller:=forward_state_controller`

To send commands, publish to the `/<robot name>/forward_state_controller/commands` topic, eg
 
`ros2 topic pub /forward_state_controller/commands std_msgs/msg/Float64MultiArray "{data: [<list of desired position> <list of desired velocity> <list of desired load>]}"
`

Additionally, if joint gains are ever added to the command interface, they could be forwarded via this same type of controller by just inputting a different set of parameters

## Testing Done

- mock mode / forward position controller
-  mock mode / forward state controller
-  robot mode / forward position controller
- robot mode / forward state controller
all are loaded successfully!
- [x] mock mode correctly forwards a dummy list of position/velocity/effort into the joint states
- [x] examples running regular forward position commands still work

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Jobs
ID Job ID Ran Files Coverage
1 unittests-cpp - 11164121296.1 46
70.26
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2 unittests-python - 11164121296.2 9
40.16
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Source Files on build 11164121296