Tpoignonec optionnal cmd msg + other features

[tpoignonec]

Feature:

• Optionnal command msg
• Make ROS2 control period variable available to the python logic
• Use parameter interface_full_namesinstead of jointsand interface_name:

<controller_name>
  ros__parameters:
    joints:
      - joint_1
      - joint_2
    interface_name:
      - velocity

becomes

<controller_name>
  ros__parameters:
    interface_full_names:
      - joint_1/velocity
      - joint_2/velocity

which allows for mixed/custom interface types (e.g., useful for force sensors)

• CMake monitoring of the script

[mcbed]

LGFM