Implement new PoseBroadcaster controller (backport #1311)

[mergify]

This PR implements a new broadcasting controller based on the PoseSensor semantic component introduced in ros-controls/ros2_control#1775.

As described in the PoseSensor PR, my primary use-case for this is the publishing of tcp poses from robot arms. This can be more accurate than calculating forward kinematics, as robot calibrations etc. can be considered by the robot. Settings on the robot side concerning tool offsets etc. can also be included by this (at least for UR and kuka RSI). The ROS 1 ur_robot_driver used to publish this transform directly from within the hardware interface, but in ROS 2 there is not yet a standard way for providing this information. A PR for the UR ROS 2 driver already exists at UniversalRobots/Universal_Robots_ROS2_Driver#1108.

This controller publishes poses directly as geometry_msgs::msg::PoseStampeds and as tf transforms (can be disabled).

---

This is an automatic backport of pull request #1311 done by Mergify.

[mergify]

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Changes to be committed:
	new file:   pose_broadcaster/CMakeLists.txt
	new file:   pose_broadcaster/README.md
	new file:   pose_broadcaster/doc/userdoc.rst
	new file:   pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp
	new file:   pose_broadcaster/include/pose_broadcaster/visibility_control.h
	new file:   pose_broadcaster/package.xml
	new file:   pose_broadcaster/pose_broadcaster.xml
	new file:   pose_broadcaster/src/pose_broadcaster.cpp
	new file:   pose_broadcaster/src/pose_broadcaster_parameters.yaml
	new file:   pose_broadcaster/test/pose_broadcaster_params.yaml
	new file:   pose_broadcaster/test/test_load_pose_broadcaster.cpp
	new file:   pose_broadcaster/test/test_pose_broadcaster.cpp
	new file:   pose_broadcaster/test/test_pose_broadcaster.hpp

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   doc/controllers_index.rst

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally

[christophfroehlich]

this fails because of API breaks in rolling, I haven't had time to fix that

[codecov]

Codecov Report

Attention: Patch coverage is 69.36937% with 68 lines in your changes missing coverage. Please review.

Project coverage is 65.24%. Comparing base (da5c15d) to head (76b6be6).
Report is 4 commits behind head on humble.

Files with missing lines	Patch %	Lines
pose_broadcaster/test/test_pose_broadcaster.cpp	58.65%	0 Missing and 43 partials ⚠️
pose_broadcaster/src/pose_broadcaster.cpp	76.47%	11 Missing and 9 partials ⚠️
pose_broadcaster/test/test_pose_broadcaster.hpp	83.33%	0 Missing and 3 partials ⚠️
...se_broadcaster/test/test_load_pose_broadcaster.cpp	86.66%	0 Missing and 2 partials ⚠️

Additional details and impacted files

@@           Coverage Diff            @@
##           humble    #1326    +/-   ##
========================================
  Coverage   65.23%   65.24%            
========================================
  Files         103      107     +4     
  Lines       11437    12219   +782     
  Branches     7254     7536   +282     
========================================
+ Hits         7461     7972   +511     
- Misses       1483     1561    +78     
- Partials     2493     2686   +193     

Flag	Coverage Δ
unittests	65.24% <69.36%> (+<0.01%)	⬆️

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

Files with missing lines	Coverage Δ
...se_broadcaster/test/test_load_pose_broadcaster.cpp	86.66% <86.66%> (ø)
pose_broadcaster/test/test_pose_broadcaster.hpp	83.33% <83.33%> (ø)
pose_broadcaster/src/pose_broadcaster.cpp	76.47% <76.47%> (ø)
pose_broadcaster/test/test_pose_broadcaster.cpp	58.65% <58.65%> (ø)

... and 84 files with indirect coverage changes