add hardware_interface PosVelJointInterface

add hardware interface PosVelJointInterface (`hardware_interface::PosVelJointInterface`) for ros control

## Reference
- [JointTrajectoryController pos_vel interface](https://github.com/ros-controls/ros_controllers/blob/a9e650737d6d04d8a768c84a48763bdbc5e05800/joint_trajectory_controller/src/joint_trajectory_controller.cpp#L76:86)