Test torque command mode and I/O-s [Sunrise]

[Svastits]

Currently only the joint position command mode is tested, although implementation is done for torque command mode and for reading and writing I/O vales of FRI. These should be tested too, and improved, if necessary

Testing torque command mode:

• edit kuka_sunrise_driver/config/fri_config.yaml: change control_mode ("joint_impedance"), command_mode ("torque") and send_period_ms (<=5)
• start controller with joint torque output (add in launch file and configure in iiwa_ros2_controller_config.yaml)

Testing I/O-s:

• edit kuka_sunrise_driver/config/gpio_config.xacro: change interface names and data_types according to real setup
• implement controller to change command interface values and add it to launch file