Have a schema description for the ros2_control tag in the URDF

[bmagyar]

Is your feature request related to a problem? Please describe. The format of the contents of the ros2_control tag is hard to figure out and is mostly created by copying existing demos and examples or reading the parser code.

Describe the solution you'd like Set up a schema description file (xsd) for the ros2_control tag based on the existing demos and reading the parser code (I know, cheeky ;) ) and investigate what we could use to run a validation on the tag prior to starting to parse it.

Describe alternatives you've considered A clear and concise description of any alternative solutions or features you've considered.

Additional context Add any other context or screenshots about the feature request here.

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[destogl]

Use ChatGPT to generate the schema. And Parser can use it.

Add for it: https://github.com/locusrobotics/realsense2_gz_description/blob/main/urdf/rgbd_camera.gazebo.xacro#L2

Add it under URL: http://control.ros.org/schema

@sachinkum0009 looks into it!