Add entity wrench message

[chapulina]

🎉 New feature

• Alternative to Add wrench visual message #200

Summary

This message can be used to:

• Define a wrench to be applied to an entity, see New Apply Link Wrench system gz-sim#1593
• Describing the wrench that's applied to an entity. That's the use case for the message added in Add wrench visual message #200. The differences are:
  • This message doesn't have a pos field, because I think it's duplicate from wrench.force_offset.
  • This message doesn't have a label field. I have a feeling that information like which plugin is applying a force is better left to the header.

Test it

• See New Apply Link Wrench system gz-sim#1593

Checklist

• Signed all commits for DCO
• Added tests
• Added example and/or tutorial
• Updated documentation (as needed)
• Updated migration guide (as needed)
• Consider updating Python bindings (if the library has them)
• codecheck passed (See contributing)
• All tests passed (See test coverage)
• While waiting for a review on your PR, please help review another open pull request to support the maintainers

Note to maintainers: Remember to use Squash-Merge and edit the commit message to match the pull request summary while retaining Signed-off-by messages.

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[codecov]

Codecov Report

Merging #274 (b9b492c) into ign-msgs5 (1c6da4d) will not change coverage.
The diff coverage is n/a.

❗ Current head b9b492c differs from pull request most recent head 92b2395. Consider uploading reports for the commit 92b2395 to get more accurate results

@@            Coverage Diff             @@
##           ign-msgs5     #274   +/-   ##
==========================================
  Coverage      85.27%   85.27%           
==========================================
  Files              9        9           
  Lines            903      903           
==========================================
  Hits             770      770           
  Misses           133      133           

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[arjo129]

That sounds like a reasonable approach. I'll rebase my work to target garden using this message.