Added service to enable and disable tool contact

[URJala]

Also added service to get robot software version.

[URJala]

This requires changes from PR. This implements the feature requested in #897

[URJala]

Split this pull request into two. This PR now only implements the tool contact functionality and testing of that (Will only work on E-series robots). The get_version service implementation has been moved to PR.

[fmauch]

I've tested this today and while it seems to be working well, I think the interface should be improved:

• The functionality should go to its own controller
• The controller should be implemented as a chainable controller such that
  • It can be chained after a passthrough trajectory controller (see #944)
  • When chained activating tool contact detection should be done automatically
  • Tool contact should be acknowledged automatically when the trajectory finished
• When used standalone it should provide an action.

[codecov[bot]]

Codecov Report

Attention: Patch coverage is 0% with 292 lines in your changes missing coverage. Please review.

Project coverage is 5.07%. Comparing base (1b121b7) to head (0d1fb3b). Report is 420 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_controllers/src/tool_contact_controller.cpp	0.00%	203 Missing :warning:
ur_robot_driver/src/hardware_interface.cpp	0.00%	87 Missing :warning:
...include/ur_controllers/tool_contact_controller.hpp	0.00%	2 Missing :warning:

Additional details and impacted files

@@           Coverage Diff            @@
##            main    #940      +/-   ##
========================================
+ Coverage   3.59%   5.07%   +1.48%     
========================================
  Files         13      33      +20     
  Lines        947    3430    +2483     
  Branches     152     421     +269     
========================================
+ Hits          34     174     +140     
- Misses       843    3254    +2411     
+ Partials      70       2      -68     

Flag	Coverage Δ
unittests	5.07% <0.00%> (+1.48%)	:arrow_up:

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[URJala]

Depends on ur_msgs PR for the action definitions

[urfeex]

@URJala I gave that a try yesterday and I think the failing tests indicate some unstable state handling in the controller. Could you please have another look that the tests are all succeeding?