Rewrite trac_ik_python to support ROS 2

[aprotyas]

I believe the SWIG-based approach has problems, if for nothing else but because of growing troubles with symbol visibility in windows.

As such, this PR attempts a rewrite trac_ik_python as a pybind11 wrapper around the TRAC_IK::TRAC_IK class, seeking inspiration from the modules generated in rclpy and rosbag2_py.

More details to come soon.

It probably supersedes #5 because I couldn't get that effort to work.

Signed-off-by: Abrar Rahman Protyasha [email protected]