Rtde external ft

[urfeex]

Add support for sending external force-torque measurements through RTDE.

This can be especially useful if you want to inject fake measurements into a URSim simulated robot.

There's also an example with a simple TUI doing exactly that.

[urmahp]

Should we consider adding ft_rtde_input_enable() command to the script command interface, then you can use force_torque input together with the driver?
Then it would also be possible to use the driver with an external force torque sensor.

[codecov]

Codecov Report

❌ Patch coverage is 88.63636% with 5 lines in your changes missing coverage. Please review.
✅ Project coverage is 76.54%. Comparing base (173e3c3) to head (a61b8aa).
⚠️ Report is 1 commits behind head on master.

Files with missing lines	Patch %	Lines
src/ur/ur_driver.cpp	40.00%	2 Missing and 1 partial ⚠️
src/rtde/rtde_writer.cpp	60.00%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #388      +/-   ##
==========================================
- Coverage   77.00%   76.54%   -0.46%     
==========================================
  Files          92       92              
  Lines        4287     4327      +40     
  Branches      482      488       +6     
==========================================
+ Hits         3301     3312      +11     
- Misses        743      769      +26     
- Partials      243      246       +3     

Flag	Coverage Δ
start_ursim	81.71% <ø> (-2.48%)	⬇️
ur20-latest	75.03% <88.63%> (-0.01%)	⬇️
ur5-3.14.3	75.06% <88.63%> (+0.05%)	⬆️
ur5e-10.7.0	70.39% <88.63%> (+0.21%)	⬆️
ur5e-5.9.4	?

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

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.