Add resend program service and enable headless mode

[livanov93]

PR info:

• Add resend_robot_program service into the gpio controller
• Add interfaces neccessary for service to work
• Enable headless_mode option

[codecov-commenter]

Codecov Report

Merging #198 (ca556ce) into main (1b121b7) will decrease coverage by 0.22%.
The diff coverage is 0.00%.

@@           Coverage Diff            @@
##            main    #198      +/-   ##
========================================
- Coverage   3.59%   3.36%   -0.23%     
========================================
  Files         13      13              
  Lines        947    1010      +63     
  Branches     152     152              
========================================
  Hits          34      34              
- Misses       843     906      +63     
  Partials      70      70              

Flag	Coverage Δ
unittests	3.36% <0.00%> (-0.23%)	⬇️

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)
...controllers/scaled_joint_trajectory_controller.hpp	0.00% <0.00%> (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]

Just a small issue found. Probably unintentionally formatted like that.

[destogl]

is this intended?

[destogl]

I tested functionality using ursim and this PR is working. The robot program is run automatically if robot is not "OFF"-ed. Otherwise: power_on --> release_breaks --> resend_program services have to called.