Allow setting payload inertia matrix via set_payload service

[srvald]

Summary

Implements the driver-side changes to support the extended SetPayload service,
which now accepts a full geometry_msgs/Inertia payload (mass, center of gravity,
and 6-component inertia tensor) and a transition_time field.

This enables use of the robot's set_target_payload(m, cog, inertia, transition_time)
URScript function instead of the simpler set_payload(m, cog) (DEPRECATED).

Note: This PR depends on the updated ur_msgs/SetPayload.srv (ros-industrial/ur_msgs#42) and on the
setTargetPayload() addition to ur_client_library (UniversalRobots/Universal_Robots_Client_Library#515).

Breaking changes

The set_payload service request format changes (driven by the ur_msgs update).
Any existing callers must be updated to use geometry_msgs/Inertia instead of
separate mass and cog fields.

Changes

ur_controllers

• Added PAYLOAD_INERTIA_IXX/IYY/IZZ/IXY/IXZ/IYZ and PAYLOAD_TRANSITION_TIME
  entries to the CommandInterfaces enum in gpio_controller.hpp
• Added PAYLOAD_STATE_INERTIA_* entries to the StateInterfaces enum
• Extended command_interface_configuration() and state_interface_configuration()
  with the new payload interfaces
• Updated setPayload() callback to pass inertia and transition_time to the
  command interfaces
• Extended waitForPayloadRtdeMatch() to verify inertia components and to wait
  for transition_time to elapse before checking RTDE feedback

ur_robot_driver

• Added payload_inertia_, payload_transition_time_ and rtde_payload_inertia_ members to hardware_interface.hpp
• Added inertia and transition_time command interfaces and payload state interfaces
  (backed by RTDE feedback) to export_state_interfaces() and
  export_command_interfaces() in hardware_interface.cpp
• Updated checkAsyncIO() to call setTargetPayload() instead of setPayload().
• Added payload_inertia to rtde_output_recipe.txt
• Updated ur.ros2_control.xacro with the new payload command and state interfaces
• Added integration_test_payload.py and registered it in CMakeLists.txt

Test

Open one terminal and launch the ur_ros2_driver by:

ros2 launch ur_robot_driver ur_control.launch.py ur_type:=<robot_type> robot_ip:=<robot_ip>

Then in another terminal execute:

ros2 service call /io_and_status_controller/set_payload ur_msgs/srv/SetPayload '{payload: {m: 0.01, com: {x: 0.2, y: 0.1, z: 0.3}, ixx: 0.01, ixy: 0.0, ixz: 0.03, iyy: 0.01, iyz: 0.02, izz: 0.01}, transition_time: 1.0}'

It will successfully set the new changes.

Design notes

geometry_msgs/Inertia was chosen because it encapsulates mass, center of gravity,
and the full inertia tensor in a single standard ROS type, resulting in a cleaner API.

This is a breaking change: the previous mass (float32) and cog (Vector3) fields
are replaced by geometry_msgs/Inertia payload. A backwards-compatible alternative
would be to keep mass and cog and add individual float64 fields for the inertia
components (ixx, iyy, izz, ixy, ixz, iyz) and transition_time.
If this approach is preferred, then I'll update the implementation, which will mean that the SetPayload.srv will be:

float32 mass  
geometry_msgs/Vector3 cog  
float64 ixx  
float64 iyy  
float64 izz  
float64 ixy  
float64 ixz  
float64 iyz  
float64 transition_time  
---  
bool success  

Related issues

Closes #1711

---

Note

Medium Risk
Breaking change to a public service API and robot payload configuration path; incorrect inertia or timing could affect motion/dynamics, though changes are localized to set_payload and RTDE verification.

Overview
Extends set_payload to match the updated ur_msgs/SetPayload API: callers must pass geometry_msgs/Inertia (m, com, inertia tensor) and an optional transition_time, instead of separate mass / center_of_gravity fields. Migration notes document the new service call shape for the Maoka release.

The GPIO controller and robot hardware interface now expose inertia and transition_time through ros2_control payload command/state interfaces. RTDE feedback includes payload_inertia, and optional verification compares mass, COG, and all inertia components (waiting out transition_time before checking). The driver invokes setTargetPayload() on the client library rather than the deprecated set_payload URScript path.

Rolling builds pin ur_msgs to rolling-devel. Integration and mock-hardware tests use the new Inertia-based requests and add coverage for inertia, timed transitions, and sequential updates.

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