Admittance robot description param

[destogl]

Contributions via pull requests are much appreciated. Before sending us a pull request, please ensure that:

1. Limited scope. Your PR should do one thing or one set of things. Avoid adding “random fixes” to PRs. Put those on separate PRs.
2. Give your PR a descriptive title. Add a short summary, if required.
3. Make sure the pipeline is green.
4. Don’t be afraid to request reviews from maintainers.
5. New code = new tests. If you are adding new functionality, always make sure to add some tests exercising the code and serving as live documentation of your original intention.

To send us a pull request, please:

• Fork the repository.
• Modify the source; please focus on the specific change you are contributing. If you also reformat all the code, it will be hard for us to focus on your change.
• Ensure local tests pass. (colcon test and pre-commit run (requires you to install pre-commit by pip3 install pre-commit)
• Commit to your fork using clear commit messages.
• Send a pull request, answering any default questions in the pull request interface.
• Pay attention to any automated CI failures reported in the pull request, and stay involved in the conversation.

[Nibanovic]

Refactored AdmittanceControl::update() to account for either joint_state or goal_pose references.

Main changes:

• overloaded update() function
• separated out the common part into get_admittance_state_from_transforms, so the function is shorter
• separated get_all_transforms() into two: get_current_state_transforms() and get_reference_state_transforms(), where the latter is overloaded accordingly, depending on input reference

Note:

Please comment on this

[livanov93]

@Nibanovic via parmeter maybe?