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Feature/component plugin and control memory

Fabian Reister requested to merge feature/component-plugin-and-control-memory into main

This PR adds the following:

  • Ice controller interface to be able to configure controllers via ARON.
  • control memory including reader and writer classes to store and retrieve controller configs (memory library)
  • component plugin to easily create and manage controllers over the whole lifecycle. (client library)

Next steps:

  • migrate existing controllers to accept the ARON config

Note:

  • Existing controllers are left unchanged. This PR just adds new functionality and keeps the old behavior as it is.

@christophpohl @dreher @jianfenggaobit fyi. Let me know if you have any comments. I already use this new design for my QP controller (armarx::mobile_manipulation) and the platform controller in (armarx::navigation). I will merge this PR at the end of today.

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