Added support for force_mode, freedrive and tool contact

[urmahp]

This commit includes following changes:

• New control mode for freedrive
• New control mode for when the tool is in contact
• Commands for stopping and starting tool contact
• Commands for stopping and starting force mode
• Added force_mode_damping and force_mode_gain_scaling to the constructor
• Force mode gain scaling is only available for e-series and therefore it is removed from the control script, when the robot is not e-series
• Tool contact example
• Test for script command interface
• Updated test for reverse interface

This PR will require some changes to the ROS and ROS2 drivers, in order for them to use the added commands.

[codecov]

Codecov Report

Patch coverage: 76.84% and project coverage change: +0.92 🎉

Comparison is base (2e69bc1) 77.48% compared to head (661870e) 78.41%.

❗ Current head 661870e differs from pull request most recent head 1790426. Consider uploading reports for the commit 1790426 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #138      +/-   ##
==========================================
+ Coverage   77.48%   78.41%   +0.92%     
==========================================
  Files          95       98       +3     
  Lines        3939     4317     +378     
  Branches      385      432      +47     
==========================================
+ Hits         3052     3385     +333     
- Misses        662      686      +24     
- Partials      225      246      +21     

Impacted Files	Coverage Δ
...lude/ur_client_library/control/reverse_interface.h	100.00% <ø> (ø)
include/ur_client_library/queue/atomicops.h	63.88% <ø> (-1.39%)	⬇️
src/ur/ur_driver.cpp	44.03% <25.00%> (-8.85%)	⬇️
examples/tool_contact_example.cpp	53.84% <53.84%> (ø)
src/control/script_command_interface.cpp	94.91% <93.65%> (+83.80%)	⬆️
src/control/reverse_interface.cpp	88.73% <95.45%> (+2.19%)	⬆️
tests/test_script_command_interface.cpp	96.68% <96.68%> (ø)
..._client_library/control/script_command_interface.h	100.00% <100.00%> (ø)
include/ur_client_library/ur/ur_driver.h	60.00% <100.00%> (+26.66%)	⬆️
tests/test_reverse_interface.cpp	98.10% <100.00%> (+0.91%)	⬆️

... and 1 file with indirect coverage changes

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[fmauch]

Thanks @urmahp for implementing this. From a first glance this looks pretty nice, though I haven't found the time to review this line by line, yet. I'd like to test this out on a real robot a bit before merging, though.

[shuobh]

Questions about behaviors.

[fmauch]

I finally found the time to have a proper look at this. This seems to be implemented really well, thank you @urmahp! I'll give it a final test on real hardware tomorrow and we should be good to merge!

[fmauch]

I gave this intensive testing today and I think this is working well as expected, so we can merge it.