Added prefix to robotiq gripper names to allow multiple gripper spawning

[kedarrajpathak]

When trying to spawn multiple arms, for example, a bimanual setup, similar to the official moveit dual arms example (https://moveit.picknik.ai/main/doc/examples/dual_arms/dual_arms_tutorial.html), I encountered the following error:

[ros2_control_node-4] [ERROR] [1747138663.449760301] [controller_manager]: The published robot description file (urdf) seems not to be genuine. The following error was caught:Hardware name RobotiqGripperHardwareInterface is duplicated. Please provide a unique 'name' in the URDF.

After adding the prefix for robotiq gripper name in xacro include parameters, both gripper were loaded successfully:

[ros2_control_node-4] [INFO] [resource_manager]: Loading hardware 'left_RobotiqGripperHardwareInterface'
[ros2_control_node-4] [INFO] [resource_manager]: Initialize hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful initialization of hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: 'configure' hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful 'configure' of hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: 'activate' hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful 'activate' of hardware 'left_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Loading hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Initialize hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful initialization of hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: 'configure' hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful 'configure' of hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: 'activate' hardware 'right_RobotiqGripperHardwareInterface'  
[ros2_control_node-4] [INFO] [resource_manager]: Successful 'activate' of hardware 'right_RobotiqGripperHardwareInterface'  

[aalmrad]

@kedarrajpathak, thank you for your contributioin. I am currently developping a dual arm control example to add to this repository. Adding a prefix to the gripper would be included in my near future modifications.