Lennart Nachtigall

### Feature summary I would like to use the image with multiple URs in the readme (https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/raw/main/ur_robot_driver/doc/installation/initial_setup_images/family_photo.png) Just to make sure: Is it also BSD3 ?

This PR adds an additional WrenchStamped subscriber to the AdmittanceController in order to allow specifying a Wrench offset. The basic idea behind this PR is to simply add the offset...