Allow setting payload inertia matrix via set_payload service backwards-compatible

[srvald]

Summary

Implements the driver-side changes to support the extended SetPayload service in a backwards-compatible manner.

Note: This PR replaces the breaking-change approach discussed in PR #1808. It depends on the updated ur_msgs/SetPayload.srv (ros-industrial/ur_msgs#43) and on the setTargetPayload() addition to ur_client_library (UniversalRobots/Universal_Robots_Client_Library#515).

Backwards Compatibility (No Breaking Changes)

Unlike the previous proposal, this implementation does not break existing code or API contracts. The service request has been extended by appending the new fields. Existing callers who only provide mass and center_of_gravity (with inertia components defaulting to 0.0) will continue to work seamlessly.

The updated SetPayload.srv structure is:

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

---

Note

Medium Risk
Changes robot payload dynamics and async command gating (all inertia + transition_time must be set); incorrect values affect motion/force behavior, though defaults preserve legacy callers.

Overview
Extends SetPayload end-to-end so callers can set payload inertia (six components) and a transition time, while keeping existing mass/COG-only requests valid when new fields default to zero.

The GPIO controller forwards the new service fields through ros2_control command interfaces and, when verify_payload_on_set is enabled, waits for the transition duration then checks RTDE feedback for mass, COG, and inertia.

The hardware interface adds matching payload command/state GPIOs, reads payload_inertia from RTDE (recipe updated), and calls setTargetPayload() instead of the older setPayload() path. URDF/xacro declares the new interfaces.

Adds integration_test_payload.py (inertia, transition time, sequential updates) to the integration test suite.

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