add support for hardware trigger configuration (Gen2 DVL)

[wltry]

Changes Made

Add hardware_trigger_enabled configuration parameter, for DVL Gen2 hardware.
The driver checks the current configuration to keep setting configuration compatible with Gen1 DVL.

Associated Issues

Testing

Tested that the parameter is ignored on A50 DVL (v2.7.2 fw). Tested that setting hardware_trigger_enabled=true for A250 is reflected as ROS2 parameter into the A250 configuration.

[Copilot]

Pull request overview

Adds a new ROS2 configuration parameter to control Gen2 DVL hardware triggering, while preserving compatibility with Gen1 devices by only sending the setting when the DVL reports support for it.

Changes:

• Add hardware_trigger_enabled to the DVL configuration model and JSON (de)serialization (optional for Gen2).
• Update the ROS2 driver to read the current DVL configuration before applying startup parameters, and to ignore hardware_trigger_enabled when unsupported.
• Extend configuration defaults/docs and JSON parsing tests to include the new field.

Reviewed changes

Copilot reviewed 6 out of 6 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
waterlinked_dvl_driver/src/waterlinked_dvl_driver.cpp	Reads current config before applying ROS parameters; conditionally applies hardware trigger.
waterlinked_dvl_driver/src/waterlinked_dvl_driver_parameters.yaml	Declares new ROS parameter hardware_trigger_enabled.
waterlinked_dvl_driver/config/dvl.yaml	Adds default value and user-facing comment for the new parameter.
libwaterlinked/test/test_json.cpp	Updates JSON test payloads and assertions for the new config field.
libwaterlinked/src/protocol.cpp	Adds optional parsing/serialization for hardware_trigger_enabled.
libwaterlinked/include/libwaterlinked/protocol.hpp	Adds hardware_trigger_enabled to the Configuration struct.

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