Added controller to enable and disable tool contact (backport #940)

[mergify]

Also added service to get robot software version.

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This is an automatic backport of pull request #940 done by Mergify.

[mergify]

Cherry-pick of f1863a2 has failed:

On branch mergify/bp/humble/pr-940
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit f1863a2.
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Changes to be committed:
	modified:   ur_controllers/CMakeLists.txt
	modified:   ur_controllers/controller_plugins.xml
	modified:   ur_controllers/doc/index.rst
	new file:   ur_controllers/include/ur_controllers/tool_contact_controller.hpp
	new file:   ur_controllers/src/tool_contact_controller.cpp
	new file:   ur_controllers/src/tool_contact_controller_parameters.yaml
	modified:   ur_robot_driver/CMakeLists.txt
	modified:   ur_robot_driver/config/ur_controllers.yaml
	modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
	modified:   ur_robot_driver/launch/ur_control.launch.py
	modified:   ur_robot_driver/test/integration_test_controller_switch.py
	new file:   ur_robot_driver/test/integration_test_tool_contact.py
	modified:   ur_robot_driver/test/test_common.py

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   ur_robot_driver/src/hardware_interface.cpp
	deleted by us:   ur_robot_driver/urdf/ur.ros2_control.xacro

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

[urfeex]

@URJala could you please test this again on a real robot using ROS Humble?

[urfeex]

I have successfully tested this with real hardware.