Update main branch with ros-controls changes

[livanov93]

No description provided.

[codecov-commenter]

Codecov Report

Merging #160 (5942013) into main (1b121b7) will decrease coverage by 0.14%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #160      +/-   ##
========================================
- Coverage   3.59%   3.44%   -0.15%     
========================================
  Files         13      13              
  Lines        947     987      +40     
  Branches     152     152              
========================================
  Hits          34      34              
- Misses       843     883      +40     
  Partials      70      70              

Flag	Coverage Δ
unittests	3.44% <0.00%> (-0.15%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Impacted Files	Coverage Δ
...ur_controllers/force_torque_sensor_broadcaster.hpp	0.00% <ø> (ø)
...ontrollers/src/force_torque_sensor_broadcaster.cpp	0.00% <0.00%> (ø)
ur_controllers/src/gpio_controller.cpp	0.00% <0.00%> (ø)
...rollers/src/scaled_joint_trajectory_controller.cpp	0.00% <0.00%> (ø)
...ontrollers/src/speed_scaling_state_broadcaster.cpp	0.00% <0.00%> (ø)
...ver/include/ur_robot_driver/hardware_interface.hpp	0.00% <ø> (ø)
ur_robot_driver/src/hardware_interface.cpp	0.00% <0.00%> (ø)

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[destogl]

Looking good.