Add optional control_msgs/JointCommand publisher support

[kamal2730]

Description

Add optional command_type URDF parameter to publish control_msgs/JointCommand instead of sensor_msgs/JointState.

• Added command_type parameter (default: "joint_state", option: "joint_command")
• Added 5 unit tests (position, velocity, effort, mixed interfaces, full workflow)
• Updated README with parameter documentation and usage example
• Updated CHANGELOG under version 1.1.0
• Moved control_msgs from test dependency to build dependency
• Renamed publishers for clarity

CC: @bmagyar

[codecov-commenter]

Codecov Report

❌ Patch coverage is 92.10526% with 9 lines in your changes missing coverage. Please review.
✅ Project coverage is 81.14%. Comparing base (144e3e9) to head (5270b57).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...rface/src/joint_state_topic_hardware_interface.cpp	79.41%	2 Missing and 5 partials ⚠️
...test/joint_state_topic_hardware_interface_test.cpp	97.50%	2 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #131      +/-   ##
==========================================
+ Coverage   78.71%   81.14%   +2.43%     
==========================================
  Files           6        6              
  Lines         512      610      +98     
  Branches       45       52       +7     
==========================================
+ Hits          403      495      +92     
- Misses         79       82       +3     
- Partials       30       33       +3     

Flag	Coverage Δ
unittests	81.14% <92.10%> (+2.43%)	⬆️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
...test/joint_state_topic_hardware_interface_test.cpp	91.39% <97.50%> (+2.97%)	⬆️
...rface/src/joint_state_topic_hardware_interface.cpp	65.74% <79.41%> (+2.40%)	⬆️

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