[SW-2051] expose foot contact states to state streaming handler

[tcappellari-bdai]

Change Overview

expose foot contact states in state streaming handler

Testing Done

Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use domain_coordinator to prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.

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Pull Request Test Coverage Report for Build 13635319815

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Details

• 0 of 0 changed or added relevant lines in 0 files are covered.
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• Overall coverage remained the same at 52.487%

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Totals
Change from base Build 13527600153:	0.0%
Covered Lines:	1952
Relevant Lines:	3719

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💛 - Coveralls

[khughes-bdai]

I think to get these exported as a state interface, you'll first have to modify the ros2 control tags in the urdf to add in sensor related interfaces. it's definitely a non standard sensor type so idk the best way to do it, but maybe something like this?

        <sensor name="feet_contacts">
            <state_interface name="foot_state.front.left"/>
            <state_interface name="foot_state.front.right"/>
            <state_interface name="foot_state.rear.left"/>
            <state_interface name="foot_state.rear.right"/>
        </sensor>