Add cable and mounts for phase 2

[luca-della-vedova]

To run and visualize, set the cable to static here

aic/aic_description/urdf/cable.sdf.xacro

Line 23 in 66af77f

<static>false</static>

build and run the bringup with the following parameters:

ros2 launch aic_bringup aic_gz_bringup.launch.py ground_truth:=false spawn_cable:=true attach_cable_to_gripper:=false spawn_task_board:=true nic_card_mount_0_present:=true sc_port_0_present:=true launch_rviz:=false  sfp_mount_rail_0_present:=true sc_mount_rail_0_present:=true cable_type:=sfp_sc_cable_phase_2 cable_x:=0.006631 cable_y:=-0.113915 cable_z:=1.232130 cable_roll:=-2.842970 cable_pitch:=-1.050000 cable_yaw:=2.920000 sfp_mount_rail_0_translation:=0.02

You should see something along those lines:

I haven't quite managed to make it non static and get it in a more stable state yet, so the cable / coordinates might end up being updated.