📈 🎉 Pub joint temps

[cgeering]

Add joint temperature publishing capabilities to the ur_hardware_interface node.

Includes a new package -- ur_rtde_msgs -- for the joint temperatures message definition. Can move this into ChefAutonomy instead, but leaving in this repo for now.

Based off of these:

• Publish joint temperature UniversalRobots/Universal_Robots_ROS_Driver#446
• Rtde recipe publishing UniversalRobots/Universal_Robots_ROS_Driver#35

Testing:

• Build without failure
• Stack launch without failure
• Joint temps are published to ur_hardware_interface/joint_temperatures

[luisrayas3]

I think the main bit of testing I kinda want to see, but think we can skip for this PR, is checking the effect on the loop timing. Hopefully we don't do too much patching but if we do we may need to invest a bit of time on validating this

[luisrayas3]

Theoretically I think we'd want these messages in ur_msgs (it has some similar messages). Given that that's yet another repo which we don't even currently track as a submodule I don't think it would make sense to actually fork it but can we call this package ur_extra_msgs (or supplement, plus, more) and reference that these are our own additions to ur_msgs?

[cgeering]

Yeah, I did consider putting this in ur_msgs, but decided not to for the exact reason you laid out, as that would be yet another submodule to fork and track. Very open to moving this package and making it clearer that these are our own.

Are you suggesting we make a ur_extra_msgs (or whatever we call it) in ChefAutonomy or leave the package here in driver repo and just update the name, or something else?

[cgeering]

Renamed ur_rtde_msgs -> ur_extra_msgs.

[cgeering]

I think the main bit of testing I kinda want to see, but think we can skip for this PR, is checking the effect on the loop timing. Hopefully we don't do too much patching but if we do we may need to invest a bit of time on validating this

Good point about the loop timing and agree that we should monitor this going forward.