Dual setup with gripper fails

[mcres]

trafficstars

Launching the following dual setup with grippers:

ros2 launch xarm_moveit_config dual_uf850_moveit_fake.launch.py add_gripper:=true

leads to the ros2_control_node process being terminated:

[ros2_control_node-7]   what():  Hardware name XArmGripperSystem is duplicated. Please provide a unique 'name' in the URDF.

The fix is as easy as parametrizing each gripper ros2_control tag name using the prefix, e.g. this one. I've done that locally and was able to ros2_control both arms and both grippers.

Of course, this should be extended to the rest of the grippers as well.

[vimior]

@mcres Thanks for pointing this out, we will fix it.