Initial commit: extract M20 sim2real into ROS1 invicta project

Source: DeepRoboticsLab/sdk_deploy (BSD-3-Clause), M20 sim2real part only.

Packages:
- invicta_msgs: JointCommandArray, MotionCommand, MotionState; standard messages
  (sensor_msgs/JointState, sensor_msgs/Imu) elsewhere; shared motion value defs.
- invicta_deploy: state machine (idle/standup/rl/joint-damping/lie-down), ONNX
  policy with per-gait models, auto RL entry after standup with readiness checks,
  safety loop, gait->model table; no protocol/network code.
- invicta_remote: vendor basic_server protocol (UDP + JSON, proto.md V1.2.0),
  header/MsgId, 0xE0xx error codes, motion/usage-mode/gait translation, telemetry
  1002/3,4,5,6 (2/10/2/2 Hz); publishes /motion_command, subscribes /motion_state.
- invicta_hardware: joint/IMU bridge skeleton (SocketCAN I/O is TODO), publishes
  sensor_msgs/JointState + sensor_msgs/Imu, consumes /joint_commands.

Verified on ROS Noetic (Ubuntu 20.04) in docker: clean catkin_make, 200 Hz joint
state / 50 Hz RL commands / 20 Hz state report, protocol conformance (MotionParam,
gait preconditions, error codes), telemetry push, and end-to-end switching of two
policy models with a real remote controller.

src/invicta_hardware/package.xml

@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>invicta_hardware</name>
+  <version>0.1.0</version>
+  <description>
+    关节/IMU 数据源与关节指令执行端（骨架）：发布 sensor_msgs/JointState 与 sensor_msgs/Imu，
+    订阅 invicta_msgs/JointCommandArray，负责硬件约定（方向、零点、单位、CAN）与 policy 约定之间的换算。
+  </description>
+  <maintainer email="todo@example.com">TODO</maintainer>
+  <license>BSD-3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <depend>roscpp</depend>
+  <depend>sensor_msgs</depend>
+  <depend>geometry_msgs</depend>
+  <depend>invicta_msgs</depend>
+</package>