Release/Flexiv ROS 2 Humble v1.5

[munseng-flexiv]

COMPATABILITY

• Flexiv software package v3.7
• Flexiv RDK v1.5
• ROS 2 Humble

ADD

• Add flexiv_gripper package for gripper control. (Feature/Add Gripper Control and Flexiv Grav gripper URDF/SRDF #39)

CHANGE

• Update RDK submodule to v1.5. [Flexiv RDK 1.5]
• Change ROS 2 joint position control from RDK RT to NRT function SendJointPosition().
• Update RDK API to use SetDigitalOutputs() and digital_inputs() for digital inputs/outputs control.
• Start gpio_controller node in rizon_moveit.launch.py.

FIX

• Fix flexiv_test_nodes examples to read the correct joint_states.
• Enhance digital outputs handling in FlexivHardwareInterface.