[FEATURE]: Implement manipulator limit ROS interface

[evan-palmer]

Feature Type

Adding new functionality to the Alpha driver

Problem Description

Implement configurations that modify the configured Alpha limits on startup. The current interface handles this using only MoveIt; however, if the other control interfaces are used, then there is no way (currently) to modify the manipulator's limits.

Feature Description

Implement a driver endpoint that configures the Reach Alpha limits. This endpoint should be used by the alpha_hardware on_init() method to configure the endpoints using parameters from either the launch configuration or a configuration file.

Alternative Solutions

No response

Additional Context

No response