[mergify]

CB7 doesn't have standard digital inputs anymore. Instead, indices 0-7 go to CO8-CO15, while indices 8-15 keep going to CO0-CO7.

This requires URCL master at the moment, since it uses the accessors added in UniversalRobots/Universal_Robots_Client_Library@1c78952

Also, this has only been manually tested. Ideally, we would test things in CI against a CB7 robot, which could be added after #1910 has been merged. Hence, this is currently a draft, though the functionality is there and will probably stay like that.

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This is an automatic backport of pull request #2047 done by Mergify.

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Changes to be committed:
	modified:   ur_robot_driver/src/hardware_interface.cpp

Unmerged paths:
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	deleted by us:   ur_robot_driver/doc/usage/utility_controllers.rst
	both modified:   ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp

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PR Summary

Medium Risk
Changes which physical outputs respond to ROS digital output commands 0–7 on CB7; incorrect mapping could drive the wrong pins, though non-CB7 behavior is unchanged.

Overview
On CB7 control boxes, standard digital outputs 0–7 no longer exist on the robot; this PR routes async GPIO commands for indices 0–7 through sendConfigurableDigitalOutput at CO8–CO15 (index i + 8), while CB3/CB5 still use sendStandardDigitalOutput. The hardware interface reads and stores control_box_type_ from URCL at connect time to choose that path in checkAsyncIO().

Adds utility_controllers.rst, documenting UR utility/broadcast controllers (joint state, speed scaling, I/O/status, tool contact, TCP pose, configuration, gravity) and documenting the CB7 vs CB3/CB5 digital output index mapping for ~/set_io and ~/io_states.

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