Humble hande control

[ChandimaFernando]

This PR adds a service call the hande gripper functionality. This creates a separate docker image to install gripper control libraries and start up a service to accept gripper control commands.

Note that the underlined gripper control functions are from PickNik:
PickNikRobotics/ros2_robotiq_gripper/tree/cmake-external-project-serial
It seems that the ros2_robotiq_gripper project has had advances recently, and their latest version can be found at: https://github.com/PickNikRobotics/ros2_robotiq_gripper .

Although, this work includes a binary build of the ros2_robotiq_gripper, the binary build is not being released to the humble apt-get repository.
(TODO @ChandimaFernando, check if this binary can be integrated to the package pdf_beamline so that the intermediary docker image can be removed in the future. Right now, we want to separate the pdf_beamtime from gripper controls as gripper control depends on libraries which, at present, are not being actively maintained by PickNik)

Note: This code is yet to be tested on hande gripper hardware.

[maffettone]

Looks good.
Be judicious about:

• Sleeping as a hack for conditionality/awaiting
• Making redundant docker images

Will need to address the build with vcs import (setup.sh) to pass CI/CD.

[maffettone]

Looks good minus some container questions.

1. If we only need 1 image, then the necessary images should be deleted. We can do this in a future PR, but there's an extra image in this PR that we may not need.
2. Let's try and use the build.sh and setup.sh files in the builds for those images.