bdaiinstitute / spot_ros2 / 15394787838
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[SW-2538] Improve namespacing handling in spot ros2 control (#670)

## Change Overview

* We were previously autogenerating ros2 control config files at runtime to account for our ros2 control interfaces being namespaced.
  * For example, we have the command interface `front_left_hip_x.position` if the ros2 control stack is not launched in a namespace, and `Opal/front_left_hip_x.position` if launched in the `Opal` namespace. This mimics how we handle namespacing and frame prefixing in the spot driver.
  * Any controller that  needed a list of interfaces specified as a parameter needed to manually account for this at runtime
* This PR makes our controllers pick up this namespace automatically and apply it where relevant. This simplifies the controller config yaml significantly and we no longer have to autogenerate at runtime. 
  * This is implemented as a boolean parameter `use_namespace_as_prefix` to the relevant controllers. If we decide to rework how our ros2 control interfaces are set up in the future we can just turn that parameter off. 
* We were previously using the builtin ros2 control imu sensor broadcaster. This PR adds a new controller `spot_imu_broadcaster` that inherits from this standard controller to assist with picking up the namespace. 
* Includes a minor quality of life change to `spot_joint_controller`. If you launch in a namespace (i.e. `Opal`), the behavior before was you had to send a command of this form, where the joint name is prefixed with the namespace: `"name: ["Opal/arm_f1x"] position: [-0.5] ...`. This behavior is still a valid way to send a command, but now the user has the option of also sending a command where the joint does not have the prefix: `"name: ["arm_f1x"] position: [-0.5] ...`.

## Testing Done
- [x] Tested in mock hardware mode - with arm, without arm, with namespace, without namespace
- [x] Tested relevant examples on hardware both with and without namespace, on a robot with an arm

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Jobs
ID Job ID Ran Files Coverage
1 unittests-python - 15394787838.1 7
38.37
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2 unittests-cpp - 15394787838.2 50
69.45
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Source Files on build 15394787838