Configure ada_hardware for Articulable Fork

[jjaime2]

Description

This pull request adds the hardware interface for the Dynamixels composing the articulable fork.

A prerequisite to testing these changes is having your development machine setup according to the Software Installation section of the Articulable Fork Assembly Guide

Related PRs: #52, #54, personalrobotics/ada_feeding#211

Testing procedure

• If you have access to the physical articulable fork, power it on, plug it into your computer via USB, and run build/ada_hardware/test_dynamixel
• Verify that build/ada_hardware/test_dynamixel completes successfully
• Run ros2 launch ada_hardware ada_hardware.launch.py sim:=mock end_effector_tool:=articulable_fork
• The scene in RViz2 will fail to initialize ADA's configuration since no initial configuration was given, but verify that the following logs appear

[ros2_control_node-1] [INFO] [1734045195.218359888] [resource_manager]: Successful initialization of hardware 'Jaco2'
[ros2_control_node-1] [INFO] [1734045195.218380778] [resource_manager]: Loading hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218391883] [resource_manager]: Initialize hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218401064] [resource_manager]: Successful initialization of hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218433222] [resource_manager]: 'configure' hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218436643] [resource_manager]: Successful 'configure' of hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218439227] [resource_manager]: 'activate' hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218441688] [resource_manager]: Successful 'activate' of hardware 'DynamixelHardware'
[ros2_control_node-1] [INFO] [1734045195.218443764] [resource_manager]: 'configure' hardware 'Jaco2'
[ros2_control_node-1] [INFO] [1734045195.218449818] [resource_manager]: Successful 'configure' of hardware 'Jaco2'
[ros2_control_node-1] [INFO] [1734045195.218455361] [resource_manager]: 'activate' hardware 'Jaco2'
[ros2_control_node-1] [INFO] [1734045195.218457399] [resource_manager]: Successful 'activate' of hardware 'Jaco2'

Before opening a pull request

• pre-commit run --all-files
• Run your code through pylint. pylint --recursive=y --rcfile=.pylintrc .. All warnings but fixme must be addressed.

Before Merging

• Squash & Merge

[yewon-lee]

Added some minor comments regarding default values for arguments.