Integrate memory transfers to enable safety operations #184
Description
Problem
Slave to slave communication is necessary to safety operations.
Memory transfers will enable data from one slave to be copied in the address space of another slave in the communication frame.
It is necessary to have configuration files to specify which data should be transferred.
Proposed solution
Integrate a step of data transfer just after receiving the frame and before processing the pdos
A new configuration file for data transfer is read at hardware interface configuration and is part of the parameters of the ethercat_driver hardware interface declaration in the xml file of ros2_control.