[andino_base] Creates test for verifying ros hardware interface implementation

[francocipollone]

Summary

Adding test coverage makes the code more robust.
We could mock the microcontroller in order to provide some tests that guarantee that the hardware interface is working correctly.

Definition of done

• Provide a testing node that mocks the interaction with the microcontroller (two/three topics, for JointStates and joint velocities)
• Add a test for verifying a correct behavior.

[JesusSilvaUtrera]

@jballoffet I don't know if this is a WIP, I will leave it up to you what to do with this one.