Add a sensor for the TCP pose (backport #197)

[mergify]

This is part of making the TCP pose available inside ROS.

---

This is an automatic backport of pull request #197 done by Mergify.

[mergify]

Cherry-pick of ea0c6b5 has failed:

On branch mergify/bp/humble/pr-197
Your branch is up to date with 'origin/humble'.

You are currently cherry-picking commit ea0c6b5.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	deleted by us:   urdf/inc/ur_sensors.xacro

no changes added to commit (use "git add" and/or "git commit -a")

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally