Add robot_control_bridge plugin for Flowstate-ROS bridge

[JohnTGZ]

Overview

This PR introduces the flowstate_ros_bridge::robot_control_bridge plugin that streams control commands in ROS 2 to Flowstate's robot controller actions: AgentBridge and AgentBridgeJoint.
This bridge enables external ROS 2 nodes to send MotionUpdate and JointMotionUpdate messages directly to an active controller session via a stream to the controller server.

ROS 2 Interfaces

Services

Service Name	Service Type	Description
/aic_controller/change_target_mode	aic_control_interfaces/srv/ChangeTargetMode	Select the target mode (Cartesian or joint) to define the expected input. The controller will subscribe to either /aic_controller/pose_commands or /aic_controller/joint_commands accordingly. Results in the controller session stopping all actions and then starting the relevant action based on the desired target mode: AgentBridgeJoint for JOINT mode and AgentBridge for CARTESIAN mode.
/aic_controller/restart_bridge	std_srvs/srv/Trigger	Triggers the restart of the controller bridge. To be called after robot faults occur and are cleared.

Published Topics

Topic	Message Type	Description
/aic_controller/controller_state	aic_control_interfaces/msg/ControllerState	Data on current TCP pose and velocity, reference TCP pose, TCP tracking error and reference joint efforts.

Command Topics

The bridge listens to the following topics as motion commands for the controller.

Topic	Message Type	Description
/aic_controller/joint_commands	aic_control_interfaces/msg/JointMotionUpdate	Target configurations for joint-space control. Maps to MotionUpdate proto and then streamed to the AgentBridge action
/aic_controller/pose_commands	aic_control_interfaces/msg/MotionUpdate	Target poses for Cartesian-space control. Maps to JointMotionUpdate proto and then streamed to the AgentBridgeJoint action