Check payload state in gpio_controller (backport #1770)

[mergify]

Before, we were returning success, as soon as the hardware interface attempted to setup the payload.

This change reads the payload information from the robot and only returns success if the read payload matches with what the user requested.

Note: This kind of check should probably done for other services, as well. I didn't do it so far, since there are so many other things I would like to change in this controller (mainly the thread-synchronization issues and splitting up functionalities).

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This is an automatic backport of pull request #1770 done by Mergify.

[mergify]

Cherry-pick of fbf5704 has failed:

On branch mergify/bp/humble/pr-1770
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Changes to be committed:
	modified:   ur_controllers/include/ur_controllers/gpio_controller.hpp
	modified:   ur_controllers/src/gpio_controller.cpp
	modified:   ur_controllers/src/gpio_controller_parameters.yaml
	modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
	modified:   ur_robot_driver/resources/rtde_output_recipe.txt
	modified:   ur_robot_driver/test/integration_test_io_controller.py
	modified:   ur_robot_driver/test/test_common.py
	modified:   ur_robot_driver/test/test_mock_hardware.py

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

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