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                                            Cenk Cetin

Adding support for microcontrollers such as ESP32-S2/-S3/-C3

Adding support for microcontrollers that do not have a dedicated USB-to-UART chip, such as the ESP32-S2, ESP32-S3, and ESP32-C3.

ROS 2 Migration

Hi, This PR includes my initial work on migrating the cartesian_impedance_controller to ROS 2. I've tried to follow the existing structure and maintain consistency with the original implementation. Please feel...