PoseSensor semantic component (backport #1775)

[mergify]

This PR implements a new semantic components for robots or sensors that can meassure a cartesian pose. I will add a PR for a pose_broadcaster controller using this to ros2_controllers shortly.

My use-case for this functionality is for robots that can provide their cartesian TCP pose in addition to their normal joint state (e.g. UR and Kuka arms). This can be more accurate than forward kinematics, as the robot can use its factory calibration for determining this pose. In the future, there could also be different kinds of sensors implementing this (e.g. mocap) to allow their data to be used in a controller.

I tried my best to keep the implementation close to the existing fts and imu components. The tests should also cover similar use, in particular loading of the controller and lifecycle transitions as well as verifying a published pose.

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This is an automatic backport of pull request #1775 done by Mergify.

[mergify]

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Changes to be committed:
	modified:   controller_interface/CMakeLists.txt
	new file:   controller_interface/include/semantic_components/pose_sensor.hpp
	modified:   controller_interface/package.xml
	new file:   controller_interface/test/test_pose_sensor.cpp
	new file:   controller_interface/test/test_pose_sensor.hpp

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

[codecov]

Codecov Report

Attention: Patch coverage is 78.94737% with 16 lines in your changes missing coverage. Please review.

Project coverage is 62.27%. Comparing base (19d81e6) to head (e4facc4).
Report is 1 commits behind head on iron.

Files with missing lines	Patch %	Lines
controller_interface/test/test_pose_sensor.cpp	63.63%	0 Missing and 16 partials ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             iron    #1786      +/-   ##
==========================================
+ Coverage   62.17%   62.27%   +0.10%     
==========================================
  Files         109      112       +3     
  Lines       12218    12294      +76     
  Branches     8549     8597      +48     
==========================================
+ Hits         7596     7656      +60     
+ Misses        874      872       -2     
- Partials     3748     3766      +18     

Flag	Coverage Δ
unittests	62.27% <78.94%> (+0.10%)	⬆️

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

Files with missing lines	Coverage Δ
...erface/include/semantic_components/pose_sensor.hpp	100.00% <100.00%> (ø)
controller_interface/test/test_pose_sensor.hpp	100.00% <100.00%> (ø)
controller_interface/test/test_pose_sensor.cpp	63.63% <63.63%> (ø)

... and 1 file with indirect coverage changes

[bmagyar]

thanks for fixing these up @christophfroehlich !