[GSOC-72] Migration of Spherical Coordinates Plugin

[hmoyen]

This PR introduces two main features:

• Spherical Coordinates Plugin (ROS 2 Interface):

  • Migrated services to set, get, and perform transformations regarding spherical coordinates in Gazebo simulation.
  • The services were added to the dave_interfaces package, and the plugin is implemented in the dave_ros_gz_plugins package.

• Example World:

  • Added the plugin to the dave_bimanual_example world to test the functionality.

Documentation on how to use it: Documentation

[rakeshv24]

@hmoyen Thanks for migrating this! It works fine for me! :)