Hardware interface for sending motion primitives to the robot via the Instruction Executor instead of trajectories

[mathias31415]

This PR extends the ur_robot_driver package with a hardware interface for sending motion primitives to the robot via the Instruction Executor instead of traditional trajectory execution.

To reuse the state interface functionalities of the original hardware interface in the new motion_primitive_ur_driver, these functionalities have been refactored into a shared helper file: stateinterface_helper.hpp.

The implementation uses the motion_primitives_forward_controller, which is planned to be integrated into the ros2_controllers repository. (ros-controls/ros2_controllers#1636)

Motion primitives are received by the controller using the MotionPrimitive.msg from the industrial_robot_motion_interfaces package. A modified version of this message is used here, which includes additional helper types:

• STOP_MOTION: Interrupts current robot motion and clears the motion queue.
• MOTION_SEQUENCE_START and MOTION_SEQUENCE_END: Define a sequence block—primitives between these markers are grouped and executed as a single, blended motion sequence. This enables smooth transitions between individual primitives, unlike executing them one by one.

This implementation also depends on a pending Pull Request in the Universal_Robots_Client_Library. This PR extends the Instruction Executor with support for movec commands, which is required for executing circular Cartesian motions within this driver.

I'd appreciate any feedback or suggestions – thanks in advance!

[urfeex]

@mathias31415 regarding b4f4dec, please let's keep that back for a follow-up PR.

[urfeex]

@mathias31415 could you please fix the merge conflicts for this?

[codecov]

Codecov Report

❌ Patch coverage is 0% with 275 lines in your changes missing coverage. Please review.
✅ Project coverage is 15.36%. Comparing base (1b121b7) to head (5bb0a8b).
⚠️ Report is 504 commits behind head on main.

Files with missing lines	Patch %	Lines
ur_robot_driver/src/hardware_interface.cpp	0.00%	275 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##            main    #1341       +/-   ##
==========================================
+ Coverage   3.59%   15.36%   +11.77%     
==========================================
  Files         13       34       +21     
  Lines        947     3860     +2913     
  Branches     152      482      +330     
==========================================
+ Hits          34      593      +559     
- Misses       843     3250     +2407     
+ Partials      70       17       -53     

Flag	Coverage Δ
unittests	15.36% <0.00%> (+11.77%)	⬆️

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[urfeex]

Looks good to me. A few nitpicks left, but I'll take them to a follow-up.

Just as a note for now:

• Remove logging from perform_switch
• Add moprim interface to compatibility matrix
• Fix end-of-file in controller-yaml