add parameter to make foot move further

[SammyRamone]

Proposed changes

Uses foot front part to compute kick, since it makes more sense
Adds better testing script
Adds some functionality to do splines in leg space because I tried that out, but removed it from the kick itself. Still would keep the changes for the splines if we want to do something like this in future.
Parameter are not optimized yet

Necessary checks

• Update package version
• Run catkin build
• Write documentation
• Create issues for future work
• Test on your machine
• Test on the robot
• Put the PR on our Project board

[16stelter]

Could not test this on my device, but apart from the few comments, lgtm

[SammyRamone]

this works but needs tuning of parameters

[SammyRamone]

needs to be restructured due to ROS2 change

[jaagut]

@timonegk should we reimplement/refactor this for ROS 2?

[timonegk]

Yes, at least the part of using the front of the foot for the target position should be kept.

Stale