Add velocity to gripper command (backport #99)#129
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(cherry picked from commit d4be560)
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Many robot grippers support effort, position, and velocity controls. The current technique to set the velocity involves reading a hardcoded value from the URDF. This is problematic when the user wants to change the gripper velocity at runtime. I propose a new gripper action message that supports a target_velocity field.
This PR is related to the controller developed in ros-controls/ros2_controllers#1002
This is an automatic backport of pull request #99 done by [Mergify](https://mergify.com).