Add support for gz.msgs.EntityWrench (base branch: ros2) (backport #573)

[mergify]

🎉 New feature

Closes #566

Also replaces PR #572, now retargeted to the ros2 branch.

Summary

Adds the new ros_gz_interfaces/msg/EntityWrench, with structure compatible with gz.msgs.EntityWrench. This enables the user to apply wrenches to Gazebo entities using ROS topics.

Also implements the ros_gz_bridge mapping between ros_gz_interfaces/msg/EntityWrench and gz.msgs.EntityWrench.

Test it

Manual testing involves spawning any entity in Gazebo and loading the gz::sim::systems::ApplyLinkWrench plugin to the world SDF. Then, call the ros_gz_bridge to expose the entity wrench topic as follows (YAML syntax):

- topic_name: "/world/<world_name>/wrench"
  ros_type_name: "ros_gz_interfaces/msg/EntityWrench"
  gz_type_name: "gz.msgs.EntityWrench"

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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This is an automatic backport of pull request #573 done by Mergify.

[ahcorde]

CI issues should hopefully be fixed after ros2/ros2#1574