Forwardport/Jazzy v1.9.3 features to v2.2

[munseng-flexiv]

Forward-ports the features released in #125 (jazzy-v1.9.3, RDK v1.9.3, Rizon/AICO) onto the v2 line for the Enlight and MICO series on RDK v2.2.

Included

• Fault handling and recovery (Feature/Add Fault Handling and Recovery #120) — ~/error_recovery action, ~/get_operational_status service, ~/operational_status topic, under /<robot_sn>/flexiv_recovery_node. Sequence Stop → ClearFault → ServoOn → wait operational, each step deadlined. Component stays ACTIVE while faulted. Motion withheld until a controller restart re-syncs the command buffers.
• Control mode name — Mode.msg now mirrors flexiv::rdk::Mode.
• Joint impedance services (Feature/Add service requests to set joint impedance controller properties #123) — ~/set_joint_impedance, ~/set_max_contact_torque, ~/set_joint_inertia_scale plus latched state topics, under /<robot_sn>/flexiv_joint_impedance_config_node. Re-applied on every controller start.
  • Extended: optional joint_names per request, so one arm of a dual-arm robot can be set alone
• flexiv_calibration (Feature/Add flexiv_calibration package and per-robot kinematics launch arguments #118) — new package syncing measured kinematics into flexiv_description, plus a kinematics_params_file launch argument. One file covers the whole robot (ARM_1/ARM_2, EXT_AXIS on MICO-Plus/Ultra).
• Gripper — bounded 30 s wait for operational instead of looping forever.

Excluded

• Rizon 10 support — v1.x only.

RDK v2.2 adaptations

v1.9.3	v2.2
Enable()	ServoOn()
OperationalStatus::NOT_ENABLED	NOT_SERVO_ON
RobotInfo::DoF / DoF_e / DoF_m	per-JointGroup DoF map
RobotInfo::model_name	ProductModelNames().at(product_model)
kOpStatusNames / kModeNames maps	OperationalStatusNames() / ModeNames() accessors
SetJointImpedance(K_q, Z_q)	SetJointImpedance(group, K_q, Z_q), one call per group

• run_auto_recovery dropped — no RDK v2.2 equivalent. Recovery state is refused with a message pointing at Flexiv Elements, rather than keeping a dead goal field.
• Impedance interface covers arm joints only — no K_q_nom is reported for external axes, so a MICO torso request has no bound to validate against.
• Connection stays in on_init — export_state_interfaces() needs info().all_groups and runs before on_configure. on_configure reconnects after on_cleanup, so connection-loss recovery still works.