[ros_bridge] Enable to use impedance controller through ros bridge with auto-generated idl python

[pazeshun]

Updated version of #527

What I did

• Add auto-generation of ros bridge for old impedance controller inside HiroNX (generation of AbsoluteForceSensorServiceROSBridge and ImpedanceControllerServiceROSBridge)
  • Add idls for old impedance controller (AbsoluteForceSensorService.idl and ImpedanceControllerService.idl from [email protected])
  • Use rtmbuild and custom cmake macro to generate and build ros bridge executables from idls
• Add auto-generation of hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/*_idl.py based on rtmbuild Add auto-generation of *_idl.py in <WS NAME>/devel/lib/python2.7/dist-packages/hironx_ros_bridge/idl_315_1_9 based on rtmbuild
  • Remove original hironx_ros_bridge/src/hironx_ros_bridge/hrpsys_315_1_9/hrpsys/*_idl.py
• Fix ros bridge launch to run generated ros bridge executables instead of ones in hrpsys_ros_bridge
  • Because ros bridge executables in hrpsys_ros_bridge are generated from idls in latest hrpsys-base, which don't have AbsoluteForceSensorService.idl and have different ImpedanceControllerService.idl

[pazeshun]

TODOs to refine

• Create directory idl_315_1_9 under lib/python2.7/dist-packages/hironx_ros_bridge and move idl python there (@ cdd9b65)
• Add version suffix to ...
  • C++ files in src_gen (AbsoluteForceSensorServiceROSBridge.cpp, AbsoluteForceSensorServiceROSBridge.h, AbsoluteForceSensorServiceROSBridgeComp.cpp, ...)
  • Executable of *Comp (AbsoluteForceSensorServiceROSBridgeComp and ImpedanceControllerServiceROSBridgeComp)
  • ROS messages and services in msg and srv (OpenHRP_AbsoluteForceSensorService.msg ...)
• Follow check hrpsys/rtmros from sources rtmros_common#1068