Integrate PoseBroadcaster controller

[evan-palmer]

Feature Type

Adding new functionality to the project

Problem Description

ros2_controllers recently added a new PoseBroadcaster controller to provide a way to publish end-effector poses. This can allow users to avoid needing to perform FK to compute the end-effector pose.

Feature Description

Integrate support into the hardware interface to read the end-effector pose as a state. Then integrate the PoseBroadcaster controller to read and publish that state.

Alternative Solutions

No response

Additional Context

Refer to the respective PR on ros2_controllers for more information and examples.

[evan-palmer]

I'm hesitant to implement this feature for the Alpha. The serial bandwidth is quite limited as-is and introducing additional data will mandate that other data be throttled.