[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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	modified:   ur_robot_driver/src/hardware_interface.cpp

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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 real-time digital output routing on CB7 hardware; wrong detection would misdrive I/O, though legacy control boxes keep the previous path.

Overview
CB7 control boxes no longer expose classic standard digital outputs; this PR keeps the existing ROS GPIO index layout while sending writes to the correct pins on the robot.

On connect, the hardware interface now reads control_box_type_ from URCL. In async I/O, commands on standard_digital_output_cmd_ indices 0–7 use sendConfigurableDigitalOutput(i + 8) on CB7 (CO8–CO15) and still use sendStandardDigitalOutput on older boxes. Indices 8–15 and tool outputs are unchanged.

New utility_controllers.rst documents utility controllers (joint state, speed scaling, GPIO/I/O, tool contact, TCP pose, configuration, gravity) and documents the CB7 vs CB3/CB5 digital output index mapping for set_io and io_states.

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