Allow using the actual torques as joint efforts

[urfeex]

Add the option to use the joint_torques reported through RTDE as joint efforts as discussed in #1468.

This will not run on robots with software version < 5.23.0 / 10.11.0, hence the draft. The RTDE output for actual joints doesn't exist before. We would need to find a solution for that. Possible solutions are:

• Keep a separate output recipe and leave passing a compatible recipe file when this option is enabled to the user (I don't quite like that)
• read the recipe file in the driver, append the torque field if requested and save it as a temporary file that gets passed to the driver object
• Extend the driver config to accept a string vector, as well. Then, we can easily append the field in the hardware interface

[codecov[bot]]

Codecov Report

:x: Patch coverage is 0% with 10 lines in your changes missing coverage. Please review. :white_check_mark: Project coverage is 16.49%. Comparing base (1b121b7) to head (be5ee47). :warning: Report is 504 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_robot_driver/src/hardware_interface.cpp	0.00%	10 Missing :warning:

Additional details and impacted files

@@            Coverage Diff             @@
##            main    #1551       +/-   ##
==========================================
+ Coverage   3.59%   16.49%   +12.90%     
==========================================
  Files         13       34       +21     
  Lines        947     3596     +2649     
  Branches     152      454      +302     
==========================================
+ Hits          34      593      +559     
- Misses       843     2986     +2143     
+ Partials      70       17       -53     

Flag	Coverage Δ
unittests	16.49% <0.00%> (+12.90%)	:arrow_up:

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