Update URDF loading to include default robot configuration in Ros2Control

[skpawar1305]

Description
For the latest ros2_control update we face
[webots_controller_SpotArm-6] terminate called after throwing an instance of 'std::runtime_error'
[webots_controller_SpotArm-6] what(): Hardware name WebotsControl is duplicated. Please provide a unique 'name' in the URDF. for humble

Affected Packages
List of affected packages:

• webots_ros2_control

Additional context
load_urdf is called only to set is_urdf_loaded__ = true

[lukicdarkoo]

@skpawar1305 Can you confirm the error occurred on Humble main (not testing) and Webots R2023b? Or it is some other version?

[skpawar1305]

@skpawar1305 Can you confirm the error occurred on Humble main (not testing) and Webots R2023b? Or it is some other version?

yes
our workflow is also failing, webots 2023b and stable ros2 repos
https://github.com/MASKOR/webots_ros2_spot/blob/main/.github/workflows/test_ros2_humble.yml

[lukicdarkoo]

@skpawar1305 I managed to reproduce the error in our test examples. With the latest ros2_control for Humble (compiled from source) there is no error. I believe the issue is related:
ros-controls/ros2_control#1960

Given load_urdf is called with:

• validate_interfaces = false
• load_and_initialize_components = false
  the error should not appear.

[skpawar1305]

okay, I'll delete this branch later then. thank you

[lukicdarkoo]

@skpawar1305 Here is a hotfix until the Humble sync:

# HOTFIX: https://github.com/ros-controls/ros2_control/pull/1960
wget -O /tmp/hotfix.deb http://snapshots.ros.org/humble/2024-08-28/ubuntu/pool/main/r/ros-humble-hardware-interface/ros-humble-hardware-interface_2.43.0-1jammy.20240823.145349_amd64.deb && \
    sudo apt install -y --allow-downgrades /tmp/hotfix.deb && \
    rm -f /tmp/hotfix.deb

It will install a slightly older version of resource_manager.