Change fake driver (#4)

* Change fake driver

* Add velocity state interfaces

stretch_moveit_config/config/gripper.ros2_control.xacro

@@ -5,17 +5,19 @@
 
         <ros2_control name="${name}" type="system">
             <hardware>
-                <plugin>fake_joint_driver/FakeJointDriver</plugin>
+                <plugin>fake_components/GenericSystem</plugin>
             </hardware>
             <joint name="joint_gripper_finger_left">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_gripper_finger_right">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
         </ros2_control>
 

stretch_moveit_config/config/stretch_arm.ros2_control.xacro

@@ -5,37 +5,43 @@
 
         <ros2_control name="${name}" type="system">
             <hardware>
-                <plugin>fake_joint_driver/FakeJointDriver</plugin>
+                <plugin>fake_components/GenericSystem</plugin>
             </hardware>
             <joint name="joint_arm_l0">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_arm_l1">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_arm_l2">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_arm_l3">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_lift">
                 <param name="start_position">0.1033</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
             <joint name="joint_wrist_yaw">
                 <param name="start_position">0.0</param>
                 <command_interface name="position" />
                 <state_interface name="position"/>
+                <state_interface name="velocity"/>
             </joint>
         </ros2_control>