Add params frequency_hz, create_socat_tty, ip_adress & port

[macmacal]

Description

• Adds new parameters introduced in Refactor - Multithread modbus communication robotiq_hande_driver#21 .
  • frequency_hz sets the low-level communication frequency by the serial port
  • create_socat_tty (bool) to create a virtual serial port,
  • ip_adress and port to configure the creation of virtual serial port with socat,

Motivation and context

• Fix the issue with robotiq_hande_driver and UR's RTDE protocol.

Related PRs

• Refactor - Multithread modbus communication robotiq_hande_driver#21
• Hande Gripper - Add params frequency_hz, create_socat_tty, ip_adress & port aegis_ros#49

How has this been tested?

• Tested manually on the Aegis robot, on the geonosis PC, with the whole aegis_ros stack.

Checklist

• All TODOs in the code have been resolved or linked to a proper issue.
• Code has been (auto)formatted.
• Documentation (e.g., README, CHANGELOG, Wiki) has been updated.
• All automated checks have passed.

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Clickup task: 869972nfu

[sivral]

Please update the documentation.

[slimasziom]

LGTM 👍