Adding contact sensor hardware interface

[BartlomiejK2]

Is your feature request related to a problem? Please describe.
There is no hardware interface for simple contact sensors that only sends binary data if there is contact between sensor and anything else.

Describe the solution you'd like
Contact sensor data like for IMU and Force-Torque Sensor (currently as pull request), that exposes only bool values to ros2_control hardware interface.

Additional context
One sensor can have multiple collisions and many topics, so my focus would be to clearly describe each hardware interface name as: contact_sensor_name/collision_name/contact_flag. If I remember correctly, every hardware interface is passed as float, so there needs to be clear indication what value corresponds to what bool value (1.0 -> true, 0.0 -> false)

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.