Adding Io gripper controller

[sachinkum0009]

This Pull Request introduces the IO Gripper Controller, an implementation for controlling a gripper using IOs. The controller supports functionalities such as open, close, and reconfigure, which can be triggered either through an Action Server or a Service Server. Additionally, the controller publishes the gripper’s state via joint_states and provides dynamic_interfaces to expose all command and state interfaces.

Features

• Action and Service Integration: Offers flexible control of gripper operations through action or service calls.
• State Publishing: Continuously publishes the gripper's joint states and dynamic interface values for real-time monitoring.

Interfaces

Published Topics

1. joint_states [sensor_msgs::msg::JointState]:

   • Publishes the state of the gripper joint and its configuration joint.

2. dynamic_interfaces [control_msgs::msg::DynamicInterfaceValues]:

   • Publishes all command and state interfaces related to the gripper's IOs and sensors.

This addition enables better modular control of robotic grippers, paving the way for seamless integration in complex robotic systems.

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[sachinkum0009]

This PR depends on this PR

[bmagyar]

this should go into the doc folder in the rst format. For an example please check the joint_trajectory_controller.

[destogl]

Please also write docs extensively about the internal state machine and also internal functionalities and external interface. As template, use the docs from another controller and adjust the content.

[destogl]

First set of comments. The second one comes tomorrow.

[destogl]

Please also write docs extensively about the internal state machine and also internal functionalities and external interface. As template, use the docs from another controller and adjust the content.