Support for Safety in the ros_to_real

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Hi @TrivasZhang ,

I was using the unitree_legged_sdk until this point and recently had the need to switch to ROS and therefore was going through the unitree_ros_to_real repo, I was wondering how to implement something similar to the safety in the unitree legged sdk(Power or Position Protect) when I use the ros_to_real repo as I didn't find any implementation of it in the example position or ros_udp.cpp files.

I work with Aliengo and have the unitree_legged_sdk v3.8.4