Add utility node for transform wrench messages for a list of frames (backport #2021)

[mergify]

Address #1842

This PR adds a new utility node wrench_transformer_node to force_torque_sensor_broadcaster to transform input Wrench messages to output Wrench messages for a given list of frames.

Feedback on naming is welcome and appreciated.

Testing

• Unit test added.
• ros_control_demos Example_5 is modified to verify the code change, [example_5] Update demo to illustrate the usage of wrench transformer ros2_control_demos#972

---

This is an automatic backport of pull request #2021 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of 3d03572 has failed:

On branch mergify/bp/kilted/pr-2021
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Changes to be committed:
	modified:   force_torque_sensor_broadcaster/CMakeLists.txt
	modified:   force_torque_sensor_broadcaster/README.md
	modified:   force_torque_sensor_broadcaster/doc/userdoc.rst
	new file:   force_torque_sensor_broadcaster/include/force_torque_sensor_broadcaster/wrench_transformer.hpp
	modified:   force_torque_sensor_broadcaster/package.xml
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer.cpp
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer_main.cpp
	new file:   force_torque_sensor_broadcaster/src/wrench_transformer_parameters.yaml
	new file:   force_torque_sensor_broadcaster/test/test_wrench_transformer.cpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/release_notes.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[codecov]

Codecov Report

❌ Patch coverage is 88.10198% with 42 lines in your changes missing coverage. Please review.
✅ Project coverage is 85.20%. Comparing base (32a862f) to head (61ceae7).
⚠️ Report is 1 commits behind head on kilted.

Files with missing lines	Patch %	Lines
...ensor_broadcaster/test/test_wrench_transformer.cpp	91.27%	14 Missing and 10 partials ⚠️
...rque_sensor_broadcaster/src/wrench_transformer.cpp	78.66%	8 Missing and 8 partials ⚠️
...sensor_broadcaster/src/wrench_transformer_main.cpp	0.00%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           kilted    #2032      +/-   ##
==========================================
+ Coverage   85.13%   85.20%   +0.07%     
==========================================
  Files         144      148       +4     
  Lines       13968    14321     +353     
  Branches     1201     1225      +24     
==========================================
+ Hits        11891    12202     +311     
- Misses       1670     1694      +24     
- Partials      407      425      +18     

Flag	Coverage Δ
unittests	85.20% <88.10%> (+0.07%)	⬆️

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

Files with missing lines	Coverage Δ
...e_torque_sensor_broadcaster/wrench_transformer.hpp	100.00% <100.00%> (ø)
...sensor_broadcaster/src/wrench_transformer_main.cpp	0.00% <0.00%> (ø)
...rque_sensor_broadcaster/src/wrench_transformer.cpp	78.66% <78.66%> (ø)
...ensor_broadcaster/test/test_wrench_transformer.cpp	91.27% <91.27%> (ø)

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