Add orientation

[JacobJBeck]

Adds orientation to previously linear only topics. Position publishing has been replaced with pose, and velocity with twist. Force subscription has been replaced with wrench. Relevant documentation has also been updated.

Tested on a sigma.7. It would be good if someone can test with a 3DoF device to ensure compatibility is not broken.

[ricmua]

This seems like a great contribution. Thank you, @JacobJBeck. I hope to expand coverage of the SDK functionality -- and this does just that.

Thanks, especially, for also modifying the documentation.

My only issue is with the removal of the existing topics. I'd prefer to see this functionality retained. Do you disagree?

I can probably run through and make the necessary changes to retain both the old and the new functionality. I'd like to take a closer look, anyway, and perhaps add some tests. I can also test with a 3DoF robot. What OS did you test with?

[JacobJBeck]

Hi @ricmua, my thought was that it makes the most sense for the driver to use Pose and Twist messages and simply not ignore orientation for devices that don't support it. I think this works better than publishing position and orientation separately, as that would require the consumer to subscribe to both topics and synchronize the incoming data. Of course, as the maintainer, I leave the decision to you.

I tested with ROS2 Humble on Ubuntu 22.04.3 LTS.