gazebo_plugins: Adding ForceTorqueSensor Plugin

This gazebo plugin broadcasts `geometry_msgs/WrenchStamped` messages with measured force and torque on a specified joint. It publishes at a given rate.
The wrench is reported in the joint child-link frame and the measure direction is child-to-parent link.

Example usage:
```xml
<!-- Enable the Joint Feedback -->
<gazebo reference="JOINT_NAME">
  <provideFeedback>true</provideFeedback>
</gazebo>
<!-- The ft_sensor plugin -->
<gazebo>
  <plugin name="ft_sensor" filename="libgazebo_ros_ft_sensor.so">
    <updateRate>100.0</updateRate>
    <topicName>ft_sensor_topic</topicName>
    <jointName>JOINT_NAME</jointName>
  </plugin>
</gazebo>
```