Rune Søe-Knudsen

As in the ROS1 driver using the client_library

Align the documented required Robot SW version to the same as the current version of the client library

### Feature summary Add support for using the Tool contact feature that already have been added to the Client Library Expose UR's Tool contact controller feature to enable fast reaction...

### Feature summary Add support for using the following UR build in features that already have been added to the Client Library Expose the Force mode to enable to use...

### Feature summary Update the [ROS node documentation](https://docs.ros.org/en/ros2_packages/rolling/api/ur_robot_driver/ROS_INTERFACE.html#nodes). It seems we are missing, at least, the topics the control node is sending out! The Dashboard server seems more complete as...

### Feature summary Add support for using the force mode UR build-in features that already have been added to the Client Library Expose the Force mode to enable to use...

### Feature summary Add support for using the Tool contact feature that already have been added to the Client Library Expose UR's Tool contact controller feature to enable fast reaction...

Make support for on robot spline interpolation in the ROS2 driver

We are missing a screen dump of the UR Teach Pending to make it more appealing. -- Maybe also link to the FZI demo video to show how this node...