[mergify]

Adapts the driver to flexiv_description humble-v3.1 flexivrobotics/flexiv_description#37, which adds AICO2-4-D3, AICO2-4E-D1, AICO2-4U-D1, AICO2-10-D2, AICO2-10E-D1 and AICO2-10U-D1 (9 AICO2 types total)

AICO2 types

• aico2_types in flexiv_hardware/urdf/flexiv.urdf.xacro and AICO2_TYPES in both AICO2 launch files list all nine; default arms and the arm-class check key on AICO2-10 rather than the single AICO2-10-V1.
• Everything downstream is now generic over $(var external_axis_type) (the robot type lowercased with dashes as underscores) instead of branching per type:
  • rizon_dual.ros2_control.xacro — 3 duplicated joint blocks → 1
  • aico2.srdf.xacro — 3 duplicated group/collision blocks → 1
  • aico2_{4_v1,4_v2,10_v1}_controllers.yaml → one aico2_controllers.yaml
  • 3 aico2_*_moveit_controllers.yaml → one aico2_moveit_controllers.yaml
  • aico_joint_limits.yaml — one entry per joint covers every AICO model

DRDK is optional again

• FlexivDualHardwareInterface is compiled only when flexiv_drdk is found, but the plugin description advertised it unconditionally — so paired setups failed inside the class loader with an opaque "class does not exist".
• Split into flexiv_dual_hardware_interface_plugin.xml, exported only inside if(flexiv_drdk_FOUND), plus a build-time message(STATUS ...) explaining what is unavailable.
• The DRDK CI step is dropped: no DRDK release is compatible with RDK v1.9.4 yet.

---

This is an automatic backport of pull request #128 done by [Mergify](https://mergify.com).

[mergify]

Cherry-pick of c327289 has failed:

On branch mergify/bp/release/humble-v1.9.4/pr-128
Your branch is up to date with 'origin/release/humble-v1.9.4'.

You are currently cherry-picking commit c327289.
  (fix conflicts and run "git cherry-pick --continue")
  (use "git cherry-pick --skip" to skip this patch)
  (use "git cherry-pick --abort" to cancel the cherry-pick operation)

Changes to be committed:
	deleted:    flexiv_bringup/config/aico2_4_v1_controllers.yaml
	deleted:    flexiv_bringup/config/aico2_4_v2_controllers.yaml
	renamed:    flexiv_bringup/config/aico2_10_v1_controllers.yaml -> flexiv_bringup/config/aico2_controllers.yaml
	modified:   flexiv_bringup/launch/aico1_moveit.launch.py
	modified:   flexiv_bringup/launch/aico2.launch.py
	modified:   flexiv_bringup/launch/aico2_moveit.launch.py
	modified:   flexiv_bringup/package.xml
	modified:   flexiv_calibration/package.xml
	modified:   flexiv_controllers/flexiv_robot_states_broadcaster/package.xml
	modified:   flexiv_controllers/gpio_controller/package.xml
	modified:   flexiv_gripper/package.xml
	modified:   flexiv_hardware/CMakeLists.txt
	new file:   flexiv_hardware/flexiv_dual_hardware_interface_plugin.xml
	modified:   flexiv_hardware/flexiv_hardware_interface_plugin.xml
	modified:   flexiv_hardware/package.xml
	modified:   flexiv_hardware/ros2_control/rizon_dual.ros2_control.xacro
	modified:   flexiv_hardware/urdf/flexiv.urdf.xacro
	deleted:    flexiv_moveit_config/config/aico/aico2_10_v1_moveit_controllers.yaml
	deleted:    flexiv_moveit_config/config/aico/aico2_4_v2_moveit_controllers.yaml
	renamed:    flexiv_moveit_config/config/aico/aico2_4_v1_moveit_controllers.yaml -> flexiv_moveit_config/config/aico/aico2_moveit_controllers.yaml
	modified:   flexiv_moveit_config/config/aico/aico_joint_limits.yaml
	modified:   flexiv_moveit_config/package.xml
	modified:   flexiv_moveit_config/srdf/aico2.srdf.xacro
	modified:   flexiv_msgs/package.xml
	modified:   flexiv_test_nodes/package.xml

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   .github/workflows/humble-binary-build.yml
	both modified:   README.md
	both modified:   flexiv.humble.repos

To fix up this pull request, you can check it out locally. See documentation: https://docs.github.com/en/pull-requests/collaborating-with-pull-requests/reviewing-changes-in-pull-requests/checking-out-pull-requests-locally