Refactor - Multithread modbus communication

[macmacal]

Description

After an attempt of introduction of a separate thread for the modbus communication in #19, more changes in the codebase were needed.
This resulted in a major refactor of the codebase.

• It fixes the bug in the aegis_ros repository: Gripper communication takes too much bandwidth (causes RTDE errors) aegis_ros#38
• The issue with the ros2_control_examples warnings is not showing anymore, so it was possible to to re-enable the -Werror compile flag Fix compile warnings from the ros2_control example #5 .
• The new thread with mutexes are placed in the HW interface.
• Introducing SocatManager - the robotiq_hande_driver can now manage the external socat process and spawn it at will (via new boolean URDF param called create_socat_tty).
• Improved logging with colors, new namespace colour in a brand new utils.hpp.
• Cleanup of the doc strings.
• Renamed application.hpp/cpp into hande_gripper.hpp/cpp.
• Changed plain arrays uint8_t bytes_[] into std::array<uint8_t, *>.
• Moved all logic from the communication.cpp/hpp to protocol_logic.cpp/hpp.
• Moved all non-trivial definitions from *.hpps to *.cpps.
• Moved from C-like functions to C++ ones (e.g. to chrono and thread instead of usleep()).
• Encapsulated whole Communication config into CommunicationConfig struct.
• Fixed typos with wrong values in GRIPPER_OUTPUT_FIRST_REG and GRIPPER_INPUT_FIRST_REG.
• Introduced 4 new params for URDFs:
  • frequency_hz (int) to control the ammount of sleep rate in new thread
  • create_socat_tty (bool) to create a virtual serial port,
  • ip_adress and port to configure the creation of virtual serial port with socat,
• renamed tty param to tty_port for better clarity.

Note

For this PR we should use the squash marge option

Motivation and context

• To fix the integration with the UR's RTDE protocol.

Related PRs

• Hande Gripper - Add params frequency_hz, create_socat_tty, ip_adress & port aegis_ros#49
• Add params frequency_hz, create_socat_tty, ip_adress & port robotiq_hande_description#14

Related issues

• Closes Gripper communication takes too much bandwidth (causes RTDE errors) aegis_ros#38
• Closes Fix compile warnings from the ros2_control example #5
• Investigated: Support TCP communitation with libmodbus #22
• Previous PR: Separate thread for the Modbus communication #19

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

[slimasziom]

Minor changes, if any. LGTM 👍

[sivral]

Looks good to me.