Add robotiq f2 140 support

[JafarAbdi]

Copied from git@github.com:ros-industrial/robotiq.git with small modifications to have the same structure as the codebase here

TODOs:

• [x] Update ros2_control file to support f2_140
• [x] Update launch files to supoort f2_140

[develiberta]

I'm just waiting for this request to be merged.

[JafarAbdi]

I'm just waiting for this request to be merged.

I'll fix the conflicts and try to get this working this week

[skpawar1305]

thank you gripper works with gen3

by adding

<?xml version="1.0"?>
<robot xmlns:xacro="http://wiki.ros.org/xacro" name="robotiq_gripper">
    <xacro:macro name="robotiq_gripper" params="
        name
        prefix
        parent
        *origin
        sim_ignition:=false
        sim_isaac:=false
        use_fake_hardware:=false
        fake_sensor_commands:=false
        include_ros2_control:=true
        com_port:=/dev/ttyUSB0">

        <!-- ros2 control include -->
        <xacro:include filename="$(find robotiq_description)/urdf/2f_140.ros2_control.xacro" />
        <!-- if we are simulating or directly communicating with the gripper we need a ros2 control instance -->
        <xacro:if value="${include_ros2_control}">
            <xacro:robotiq_gripper_ros2_control
                name="${name}" prefix="${prefix}"
                sim_ignition="${sim_ignition}"
                sim_isaac="${sim_isaac}"
                use_fake_hardware="${use_fake_hardware}"
                fake_sensor_commands="${fake_sensor_commands}"
                com_port="${com_port}"/>
        </xacro:if>

        <xacro:include filename="$(find kortex_description)/grippers/robotiq_2f_140/urdf/robotiq_arg2f_140_model_macro.xacro" />
        <xacro:robotiq_arg2f_140 parent="${parent}" prefix="${prefix}"/>
    </xacro:macro>
</robot>

to a new file robotiq_2f_140_macro.urdf.xacro and renaming gripper and finger_joint in gen3's launch file

[codecov[bot]]

Codecov Report

Merging #18 (cbed8b2) into main (743d20f) will not change coverage. Report is 5 commits behind head on main. The diff coverage is n/a.

:exclamation: Current head cbed8b2 differs from pull request most recent head cec006d. Consider uploading reports for the commit cec006d to get more accurate results

@@          Coverage Diff          @@
##            main     #18   +/-   ##
=====================================
  Coverage   0.00%   0.00%           
=====================================
  Files          5       5           
  Lines        352     352           
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  Misses       352     352           

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