[munseng-flexiv]

Backport of #127

Forward-ports the features released in #126 (humble-v1.9.3, RDK v1.9.3, Rizon/AICO) onto the v2 line for the Enlight and MICO series on RDK v2.2.

Included

• Fault handling and recovery (Feature/Add Fault Handling and Recovery (backport #120) #121) — ~/error_recovery action, ~/get_operational_status service, ~/operational_status topic, under /<robot_sn>/flexiv_recovery_node. Sequence Stop → ClearFault → ServoOn → wait operational, each step deadlined. Component stays ACTIVE while faulted. Motion withheld until a controller restart re-syncs the command buffers.
• Control mode name (Feature/Add Fault Handling and Recovery (backport #120) #121) — Mode.msg now mirrors flexiv::rdk::Mode.
• Joint impedance services (Feature/Add service requests to set joint impedance controller properties (backport #123) #124) — ~/set_joint_impedance, ~/set_max_contact_torque, ~/set_joint_inertia_scale plus latched state topics, under /<robot_sn>/flexiv_joint_impedance_config_node. Re-applied on every controller start.
  • Extended: optional joint_names per request, so one arm of a dual-arm robot can be set alone
• flexiv_calibration (Feature/Add flexiv_calibration package and per-robot kinematics launch arguments (backport #118) #119) — new package syncing measured kinematics into flexiv_description, plus a kinematics_params_file launch argument. One file covers the whole robot (ARM_1/ARM_2, EXT_AXIS on MICO-Plus/Ultra).
• Gripper — bounded 30 s wait for operational instead of looping forever.

Excluded

• Rizon 10R support — v1.x only.

RDK v2.2 adaptations

v1.9.3	v2.2
Enable()	ServoOn()
OperationalStatus::NOT_ENABLED	NOT_SERVO_ON
RobotInfo::DoF / DoF_e / DoF_m	per-JointGroup DoF map
RobotInfo::model_name	ProductModelNames().at(product_model)
kOpStatusNames / kModeNames maps	OperationalStatusNames() / ModeNames() accessors
SetJointImpedance(K_q, Z_q)	SetJointImpedance(group, K_q, Z_q), one call per group

• run_auto_recovery dropped — no RDK v2.2 equivalent. Recovery state is refused with a message pointing at Flexiv Elements, rather than keeping a dead goal field.
• Impedance interface covers arm joints only — no K_q_nom is reported for external axes, so a MICO torso request has no bound to validate against.
• Connection stays in on_init — export_state_interfaces() needs info().all_groups and runs before on_configure. on_configure reconnects after on_cleanup, so connection-loss recovery still works.

Humble adaptations

Two ros2_control / rclcpp APIs used by the Jazzy forward-port (#127) do not exist in Humble:

Jazzy	Humble
on_init(HardwareComponentInterfaceParams&), executor supplied by the controller manager	on_init(HardwareInfo&), no executor supplied
create_service(..., rclcpp::ServicesQoS(), cb_group)	create_service(..., rmw_qos_profile_services_default, cb_group)

• The hardware component owns its executor — Humble hands the component no executor, so FlexivHardwareInterface holds a MultiThreadedExecutor plus a spin thread, started in StartSupervisoryNodes() and torn down in Disconnect().
• GPIO ports raised 20 → 24 to match flexiv::rdk::kIOPorts (16 on the control box, then the M8 connector of each wrist, then the pogo pin connector of each wrist, 2 ports each). num_gpio_ports is now threaded through the dual-arm and MICO ros2_control xacros instead of being hardcoded.