Add kinova gen3 site config

[dyackzan]

Only remaining thing here is to figure out the Non-recoverable Fault on startup if it's not too big of a lift. Edit: should be resolved now

[marioprats]

This flag doesn't work for me for some reason. I set it to true to use the internal bus, but then I get this error during bringup:

[ros2_control_node-2] [ERROR] [1744636670.523990026] [resource_manager]: Not acceptable command interfaces combination: 
[ros2_control_node-2] Start interfaces: 
[ros2_control_node-2] [
[ros2_control_node-2]   robotiq_85_left_knuckle_joint/position
[ros2_control_node-2] ]
[ros2_control_node-2] Stop interfaces: 
[ros2_control_node-2] [
[ros2_control_node-2] ]
[ros2_control_node-2] Not existing: 
[ros2_control_node-2] [
[ros2_control_node-2]  robotiq_85_left_knuckle_joint/position
[ros2_control_node-2] ]
[ros2_control_node-2] 
[ros2_control_node-2] [ERROR] [1744636670.524023554] [controller_manager]: Could not switch controllers since prepare command mode switch was rejected.
[ros2 run controller_manager spawner --controller-manager-timeout 180 robotiq_gripper_controller-3] [ERROR] [1744636670.524941085] [spawner_robotiq_gripper_controller]: Failed to activate controller : robotiq_gripper_controller

[dyackzan]

I was using the kortex_driver and kortex_description binaries before but I've added the updated versions of those packages as a submodule now (which is how they were pulled in for the picknik_ut kinova configs) so could you try with that update?

[marioprats]

I also see the fault pop up when opening the UI. I think it's because the fault_controller is not running, so this callback is never called, and therefore it doesn't set last_fault_status_update_ to now, and then reports the robot is always in fault. If we run the pstop node, then we need to start and activate the fault_controller as well.

[dyackzan]

I also see the fault pop up when opening the UI. I think it's because the fault_controller is not running, so this callback is never called, and therefore it doesn't set last_fault_status_update_ to now, and then reports the robot is always in fault. If we run the pstop node, then we need to start and activate the fault_controller as well.

Gotcha, I added the fault controller back in and set it to activate at startup

[dyackzan]

Just worked through some incompatibilities between robotiq description and kortex description, should be good to test now
P.S. you will have to update submodules to test

[marioprats]

I still see some issues in the Kinova I have.
The robotiq_gripper_controller still can't be activated for some reason
I'm also seeing faults when executing motion.

But I think we can merge this PR if this works for you. I can spend some time next week when I'm back to debug things on my end and iterate

[dyackzan]

I'll go ahead and merge so I can add in the docs with links to these files. Planning on reconfiguring the office kinova tomorrow to debug the issues you're seeing @marioprats