Implement AIRO-Mono interface

[m-decoster]

In AIRO-Mono, once this repository is pip installable, we should add an interface for a MobileRobotPlatform and a Tulip implementation of that interface.

We can follow the existing folder/package structure of airo-robots for the UR manipulators.

The implementation of the interface should send messages to the Tulip server, see the server branch and the scripts/test_client.py for an example on how to communicate with the server.

Required features

• Velocity control
• Expose encoder values for position estimation (to mimic the AIRO-mono API for PositionManipulators, we should support odometry in tulip)
• Compliant control
• Position control could be an abstraction layer on top of velocity control
• Expose voltage_bus for battery status estimation

[m-decoster]

See also: https://github.com/airo-ugent/airo-mono/tree/tulip

[m-decoster]

Progress is now tracked in airo-ugent/airo-mono#147