fixed mock hardware for botwheel explorer

[ErikParkerrr]

Goes along with this issue: #24

Pretty much everything was already setup in the official repo. The only thing missing was the command and state interfaces for the mock_components/GenericSystem plugin to recognize. I've assumed adding these will not break anything for the non-mock-hardware usage. If it will, it can be changed to be in an if statement.

Cheers

[samuelsadok]

Ah cool, yeah this approach is preferred. The files are in part derived from the diffbot example (e.g. this file) so this stub support was an artifact I wasn't aware of.

What command did you use to test this? When I tried it I saw that botwheel_explorer.launch.py needs some commented-out lines to be enabled to work with use_mock_hardware:=true. Please add these to the PR too.

[samuelsadok]

torque needs to be renamed to effort (4x). Otherwise, when I try it with the real hardware interface, it crashes with:

[ros2_control_node-1] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-1]   what():  Wrong state or command interface configuration.
[ros2_control_node-1] missing state interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '
[ros2_control_node-1] missing command interfaces:
[ros2_control_node-1] ' left_wheel_joint/torque '       ' right_wheel_joint/torque '

[ErikParkerrr]

• Fixed the issue you mentioned.
• Allowed for the mock hardware argument to be passed through the launch file instead of editing the urdf directly like I was doing.
• Un-commented the rviz launch argument and grabbed rviz file from ros2_control example
• Added the materials file from the example so the urdf doesn't make references to non existent materials

[samuelsadok]

Ok the launch command ros2 launch odrive_botwheel_explorer botwheel_explorer.launch.py use_mock_hardware:=true works now, however the original command from the docs (ros2 launch odrive_botwheel_explorer botwheel_explorer.launch.py) is still broken due to a typo.

Furthermore, please rebase the PR to the latest main branch so that the history/diff only shows commits/changes related to this PR. Currently it includes a bunch of changes from an unrelated PR.

[samuelsadok]

typo here which prevents the launchfile from working

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