feat: update examples and README with streaming support and uint32 force types

- Change CForce3D fx/fy/fz from int16 to uint32 to match hardware
- Add independent C++ example with command and streaming modes
- Rewrite Python example with threaded streaming (read_loop + consumer pattern)
- Add ROS2 C++ publisher/subscriber examples
- Update README with streaming APIs, ROS2 docs, data type definitions, and full FFI table
- Add CHANGELOG

example/ros-cpp/CMakeLists.txt

@@ -0,0 +1,52 @@
+cmake_minimum_required(VERSION 3.8)
+project(eskin_ros2_demo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# Force use of system Python (avoid Conda Python interfering with ROS 2)
+set(Python3_EXECUTABLE /usr/bin/python3 CACHE FILEPATH "System Python3" FORCE)
+
+# Ensure ROS 2 Python packages are findable even without ROS 2 sourced (e.g. VS Code CMake Tools)
+set(ENV{PYTHONPATH} "/opt/ros/jazzy/lib/python3.12/site-packages:$ENV{PYTHONPATH}")
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+# Eskin SDK library
+set(ESKIN_SDK_DIR "/home/lenn/Workspace/eskin-finger-sdk" CACHE PATH "Path to eskin-finger-sdk")
+add_library(eskin_finger_sdk SHARED IMPORTED)
+set_target_properties(eskin_finger_sdk PROPERTIES
+  IMPORTED_LOCATION "${ESKIN_SDK_DIR}/target/release/libeskin_finger_sdk.so"
+  INTERFACE_INCLUDE_DIRECTORIES "${CMAKE_CURRENT_SOURCE_DIR}/include"
+)
+
+add_executable(eskin_publisher src/eskin_publisher.cpp)
+ament_target_dependencies(eskin_publisher rclcpp std_msgs)
+target_link_libraries(eskin_publisher eskin_finger_sdk pthread)
+
+add_executable(eskin_subscriber src/eskin_subscriber.cpp)
+ament_target_dependencies(eskin_subscriber rclcpp std_msgs)
+
+install(TARGETS
+  eskin_publisher
+  eskin_subscriber
+  DESTINATION lib/${PROJECT_NAME}
+)
+ament_package()