[Spinal][cybergear][WIP] implement interface for xiaomi cybergear

[sugikazu75]

What is this

Enabled to use xiaomi cybergear.
I transplanted demo firmware to spinal firmware and implement ros interface.

Details

• add can message filter with extended id
• implement cybergear interface

TODO

• count rotation
• enable to use standard message filter too (used for spinal-neuron system). This is temporaly disabled in 87963af because can rx callback is not called (I dont know the reason now).
• support multiple motors
• Integrate ros message

Usage

• set cybergear can id as 0x7F (factory default)

roslaunch spinal bridge.launch

to free motor (set all gain and FF torque as 0)

rostopic pub -1 /servo/extended_cmd spinal/XiaomiCybergearCmd "{position: 0.0, speed: 0.0, torque: 0.0, kp: 0.0, kd: 0.0}" 

to position control (set p-gain and target position)

rostopic pub -1 /servo/extended_cmd spinal/XiaomiCybergearCmd "{position: 3.0, speed: 0.0, torque: 0.0, kp: 10.0, kd: 2.0}" 

to velocity control (set d-gain and target velocity)

rostopic pub /servo/extended_cmd spinal/XiaomiCybergearCmd "{position: 0.0, speed: 1.0, torque: 0.0, kp: 0.0, kd: 1.0}" 

to torque control (set target torque)

rostopic pub /servo/extended_cmd spinal/XiaomiCybergearCmd "{position: 0.0, speed: 0.0, torque: 0.1, kp: 0.0, kd: 0.0}" 

[sugikazu75]

Local diff to set NERVE_COMM as 0 may be required.