Added service to enable and disable tool contact

[URJala]

Also added service to get robot software version.

[URJala]

This requires changes from PR.
This implements the feature requested in #897

[URJala]

Split this pull request into two. This PR now only implements the tool contact functionality and testing of that (Will only work on E-series robots). The get_version service implementation has been moved to PR.

[fmauch]

I've tested this today and while it seems to be working well, I think the interface should be improved:

• The functionality should go to its own controller
• The controller should be implemented as a chainable controller such that
  • It can be chained after a passthrough trajectory controller (see Forward trajectory controller #944)
  • When chained activating tool contact detection should be done automatically
  • Tool contact should be acknowledged automatically when the trajectory finished
• When used standalone it should provide an action.

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 3.78%. Comparing base (1b121b7) to head (a7f087a).
Report is 379 commits behind head on main.

Additional details and impacted files

@@           Coverage Diff            @@
##            main    #940      +/-   ##
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+ Coverage   3.59%   3.78%   +0.18%     
========================================
  Files         13     395     +382     
  Lines        947   43518   +42571     
  Branches     152    6404    +6252     
========================================
+ Hits          34    1645    +1611     
- Misses       843   41730   +40887     
- Partials      70     143      +73     

Flag	Coverage Δ
unittests	3.78% <ø> (+0.18%)	⬆️

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