Add motion_primitives_forward_controller for interfacing motion primitive messages with hardware interfaces

[mathias31415]

This PR adds the motion_primitives_forward_controller, a controller for forwarding motion primitive commands to motion-primitive-capable hardware interfaces.
It was developed alongside the motion_primitive_ur_driver and is intended to support future hardware interfaces for additional robot manufacturers.
The corresponding PR for integrating the motion_primitive_ur_driver into the official Universal Robots ROS 2 driver can be found here: UniversalRobots/Universal_Robots_ROS2_Driver#1341.

The controller subscribes to MotionPrimitive.msg from the industrial_robot_motion_interfaces package. The MotionPrimitive.msg has been extended with additional helper types:

• STOP_MOTION: Immediately interrupts execution and clears all queued primitives.
• MOTION_SEQUENCE_START and MOTION_SEQUENCE_END: Define a sequence of primitives to be executed as a blended motion block.

The controller uses the following interfaces:

Command Interfaces

• motion_type: Type of motion primitive (e.g., LINEAR_JOINT, LINEAR_CARTESIAN, CIRCULAR_CARTESIAN, etc.)
• q1 – q6: Target joint positions for joint-based motion
• pos_x, pos_y, pos_z: Target Cartesian position
• pos_qx, pos_qy, pos_qz, pos_qw: Orientation quaternion of the target pose
• pos_via_x, pos_via_y, pos_via_z: Intermediate via-point position for circular motion
• pos_via_qx, pos_via_qy, pos_via_qz, pos_via_qw: Orientation quaternion of via-point
• blend_radius: Blending radius for smooth transitions
• velocity: Desired motion velocity
• acceleration: Desired motion acceleration
• move_time: Optional duration for time-based execution

State Interfaces

• execution_status: Indicates the current execution state of the primitive.
• ready_for_new_primitive: Boolean flag indicating whether the interface is ready to receive a new motion primitive

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

[bmagyar]

There is a lot of stuff coming from templates in this PR and you either used some AI tool for coding or you are very good at writing AI-style comments.

Please try removing all commented code or fix them and remove all comments that add nothing to the code itself (which in this code is almost all comments...)

[mathias31415]

Thanks @bmagyar for your review! I've addressed and resolved all the comments. Looking forward to any further feedback!