Added set_clean_mode

[TaylorDelta]

Added the topic /set_clean_mode which allows to start the normal cleaning operations. Can be started for example with:

ros2 topic pub --once /set_clean_mode create_msgs/msg/CleanMode "{mode: 1}"

after this operation it may be needed to set the controll again to full mode: ros2 topic pub -r 1 /mode create_msgs/msg/Mode "{mode: 3}"

ros2 topic info /set_clean_mode Type: create_msgs/msg/CleanMode Publisher count: 0 Subscription count: 1 ros2 interface show create_msgs/msg/CleanMode #uint8 CLEAN_MODE_NONE=0 #uint8 CLEAN_MODE_DEFAULT=1 #uint8 CLEAN_MODE_MAX=2 #uint8 CLEAN_MODE_SPOT=3 std_msgs/Header header builtin_interfaces/Time stamp int32 sec uint32 nanosec string frame_id uint8 mode