[stevenaya]

Changes

• Generate control joints from enabled components using the same resolved descriptions as assembly, including component-defined names, topology and mimic relationships.
• Store hardware settings directly under each component's control mapping. Set hardware_plugin, can_interface and can_fd in the preset; system_name is optional. Explicit control parameters override generated defaults.
• Select mock_components/GenericSystem through use_fake_hardware and emit its mock_sensor_commands and position_state_following_offset parameters.
• Replace duplicated V2 control macros with the shared generator and add a ros2_control emission switch.

Validation

• Extend the existing interface fixtures to cover custom component descriptions, independent fingers, flat hardware parameters and mock selection.
• 31 existing tests pass on ROS 2 Jazzy. The custom-mimic regression reproduces the missing finger control interface on the previous implementation.

The companion openarm_ros2 #103 keeps left_can_interface, right_can_interface and can_fd as launch-time overrides. Presets supply the defaults; ROS launch applies explicit overrides to the generated hardware parameters and shares the final URDF with the nodes.

Review this change against main.

[Copilot]

Copilot was unable to review this pull request because the user who requested the review has insufficient remaining quota. Try requesting a review at a lower effort level.

An organization owner can choose the repository organization as the billing source for reviews requested by members with a paid Copilot license. Learn about Copilot code review billing.

[Copilot]

Copilot was unable to review this pull request because the user who requested the review has insufficient remaining quota. Try requesting a review at a lower effort level.

An organization owner can choose the repository organization as the billing source for reviews requested by members with a paid Copilot license. Learn about Copilot code review billing.

[Copilot]

Copilot was unable to review this pull request because the user who requested the review has insufficient remaining quota. Try requesting a review at a lower effort level.

An organization owner can choose the repository organization as the billing source for reviews requested by members with a paid Copilot license. Learn about Copilot code review billing.