[stevenaya]

CAN device selection remains configurable at launch while the selected description preset supplies the default hardware settings.

Depends on enactic/openarm_description#116 for V2 and enactic/openarm_description#119 for V1.

Changes

• Pass robot_preset through bimanual bringup and MoveIt.
• Keep left_can_interface, right_can_interface and can_fd as optional launch overrides. Empty arguments use the preset values, and explicit false selects CAN 2.0.
• Apply overrides to the generated URDF's standard left/right ros2_control hardware systems and report a missing target system.
• Give robot_state_publisher, controller_manager, MoveIt and RViz the same final robot description.

Validation

• Existing launch checks cover V1/V2, mock/real hardware declarations, preset defaults and either side's override with CAN-FD disabled, across 24 configurations.
• Model geometry and other hardware parameters compare exactly across overrides. Node-parameter checks confirm that every node receives the same final URDF.
• Python syntax and autopep8 checks pass. The node-parameter check uses a stubbed MoveIt config builder; full MoveIt and hardware runs remain pending.

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