Running integration tests with mock hardware (backport #1226)

[mergify]

Added some launch arguments and some checks to avoid connecting to the dashboard interface when using mock hardware, as that will not work. Maybe not the most elegant, but it works for now. Currently passthrough controller does not work at all with mock hardware, and is bypassed if using that in the test. test_trajectory_scaled_aborts_on_violation fails, as the hardware doesnt abort. test_set_io also fails as the controller cant verify that a pin has been set.

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This is an automatic backport of pull request #1226 done by Mergify.

[mergify]

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Changes to be committed:
	new file:   ur_robot_driver/test/integration_test_config_controller.py
	modified:   ur_robot_driver/test/integration_test_controller_switch.py
	modified:   ur_robot_driver/test/integration_test_force_mode.py
	new file:   ur_robot_driver/test/integration_test_io_controller.py
	new file:   ur_robot_driver/test/integration_test_passthrough_controller.py
	new file:   ur_robot_driver/test/integration_test_scaled_joint_controller.py
	modified:   ur_robot_driver/test/integration_test_tool_contact.py
	modified:   ur_robot_driver/test/test_common.py
	new file:   ur_robot_driver/test/test_mock_hardware.py

Unmerged paths:
  (use "git add/rm <file>..." as appropriate to mark resolution)
	both modified:   ur_robot_driver/CMakeLists.txt
	deleted by them: ur_robot_driver/test/robot_driver.py
	deleted by us:   ur_robot_driver/urdf/ur.ros2_control.xacro

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