[FEAT] Let hand joints move faster

These changes set the arm-changing step to 10.0 and the hand-changing step to 180.0.
It increases the speed of the arm and move hand joints immediately.

[DOCS] Update README.md

[REFACTOR]
Modularize the creation and destroy

[FEAT]
Update scripts

[FIX]

Merge 2 sub to 1 to prevent race condition
Boost baud rate to 921600.
The original settings first subscribe to the arm and hand topics, then
republish to the corresponding topics. When the ESP32 keeps receiving data
from the arm topic, there may be some data loss from the hand topic.
We've tried the following, but dit oesn't work properly:

Use 1 executor for 2 subs and 2 pubs.
Use multithreading and enable UCLIENT_PROFILE_MULTITHREAD=ON
Decrease the timeout of each sub and pub to increase the refresh
rate.
After these tries, we decided to merge the 2 subscriptions into 1 and merge
these 2 topics outside the Micro ROS.

The original settings first subscribe to arm topic and hand topic, then
republish to the corresponding topics. When the ESP32 keep receives data
from the arm topic, there may have some data loss from the hand topic.
We've tried the followings, but doesn't work properly:
1. Use 1 executor for 2 subs and 2 pubs.
2. Use multithreading and enable UCLIENT_PROFILE_MULTITHREAD=ON
3. Decrease the timeout of each sub and pub to increase the refresh
   rate.

After these tries, we decided to merge 2 subscriptions into 1 and merge
these 2 topics outside the Micro ROS.

[FEAT]
1. Add left-hand configuration
2. Add micro ros distro version configuration
3. Add ROS_DOMAIN_ID and Namespace
4. Add simple-control scripts

[FIX]
1. Use copy in link_precommit.py to prevent Windows soft-link
permission issue
2. Lift L/RJ6 restrictions
3. Modify LJ1, L/RJ6 initial angle

Use copy to prevent Windows soft-link permission issue.

[FEAT] Add hand subscriber and republisher

1. Add arm and hand servos and their offsets.
2. Add static assert for compile-time checking the mismatch of the
   servos and arrays
3. Rename the sub and pub to arm_sub and arm_pub

[FEAT] Add LED state indicator

Move states to params.hpp

[FIX] Remove ArduinoJson dependency

[FEAT] Use FreeRTOS xTaskCreate to manage micro ros and arm control