Add force and velocity hardware interfaces

[pac48]

This PR adds ros2_control command interfaces to configure the gripper velocity and max effort. The plan is to deprecate the current gripper controller and replace it with a new one that supports position, velocity, and effort commands.

[moriarty]

This PR #45 will fix the coverage build error.

[codecov]

Codecov Report

Attention: 434 lines in your changes are missing coverage. Please review.

Comparison is base (743d20f) 0.00% compared to head (79d0303) 20.29%.
Report is 15 commits behind head on main.

Files	Patch %	Lines
robotiq_driver/src/default_driver.cpp	9.09%	120 Missing ⚠️
robotiq_driver/src/hardware_interface.cpp	10.28%	70 Missing and 26 partials ⚠️
robotiq_driver/src/fake/fake_driver.cpp	0.00%	35 Missing ⚠️
robotiq_driver/src/default_serial.cpp	22.72%	32 Missing and 2 partials ⚠️
...botiq_driver/tests/test_default_driver_factory.cpp	34.28%	0 Missing and 23 partials ⚠️
robotiq_driver/src/default_driver_factory.cpp	26.66%	3 Missing and 19 partials ⚠️
robotiq_driver/src/default_serial_factory.cpp	29.16%	0 Missing and 17 partials ⚠️
..._controllers/src/robotiq_activation_controller.cpp	0.00%	15 Missing ⚠️
robotiq_driver/src/data_utils.cpp	55.88%	3 Missing and 12 partials ⚠️
...botiq_driver/tests/test_default_serial_factory.cpp	44.44%	0 Missing and 15 partials ⚠️
... and 6 more

Additional details and impacted files

@@            Coverage Diff             @@
##            main      #44       +/-   ##
==========================================
+ Coverage   0.00%   20.29%   +20.29%     
==========================================
  Files          5       20       +15     
  Lines        352      611      +259     
  Branches       0      250      +250     
==========================================
+ Hits           0      124      +124     
+ Misses       352      347        -5     
- Partials       0      140      +140     

Flag	Coverage Δ
unittests	20.29% <20.80%> (+20.29%)	⬆️

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