Rtde external ft

[urfeex]

Add support for sending external force-torque measurements through RTDE.

This can be especially useful if you want to inject fake measurements into a URSim simulated robot.

There's also an example with a simple TUI doing exactly that.

[urmahp]

Should we consider adding ft_rtde_input_enable() command to the script command interface, then you can use force_torque input together with the driver?
Then it would also be possible to use the driver with an external force torque sensor.

[urmahp]

For them to be the same, align the TCP frame with robots base frame.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 82.46%. Comparing base (269b377) to head (0821df0).
⚠️ Report is 2 commits behind head on master.

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #388      +/-   ##
==========================================
+ Coverage   77.89%   82.46%   +4.56%     
==========================================
  Files          92        1      -91     
  Lines        4199      268    -3931     
  Branches      465        0     -465     
==========================================
- Hits         3271      221    -3050     
+ Misses        686       47     -639     
+ Partials      242        0     -242     

Flag	Coverage Δ
start_ursim	82.46% <ø> (-2.10%)	⬇️
ur20-latest	?
ur5-3.14.3	?
ur5e-10.7.0	?
ur5e-5.9.4	?

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