Update hardware interface

[euyniy]

Goal: reimplement hardware interface based on new controller and openarm_can sdk.

Having a minimum functioning hardware now.

TODO:

• correct gripper mappings
• appropriately non-blocking read()

[euyniy]

Gripper linkage lengths:

Follower: crank -- 40mm --> -- 17.5mm --> -- 13.05mm--> slider.
Leader: crank -- 35mm --> -- 15mm -----> -- 12.8mm -->
Last angle is fixed to 90 degrees.

Dimensions for those who are interested

[thomasonzhou]

Update on this: if we want to support the hardware interface we could use async components in a dedicated thread

https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/asynchronous_components.html