[FEATURE]: Integrate servoing using a manual controller

[evan-palmer]

Is your feature request related to a problem? Please describe

The alpha system does not provide an interface for servoing using the master arm or some other controller.

Describe the solution you'd like

Implement the ability to manually override the autonomous control to perform manual servoing using either the master arm or an XBox controller.

Describe alternatives you've considered

N/A

Implementation Ideas

To implement support for the master arm, endpoints could be added to the driver that enable serial pass-through. To integrate support from an XBox controller, the joystick teleop interface should be added. It may be necessary to integrate the MoveIt2 servoing nodes as well.

Additional context

• KUKA IIWA Servoing
• MoveIt2 Servoing