Configure ada_description for Articulable Fork

[jjaime2]

Description

This pull request adds a configuration to specify the end_effector_tool which dynamically modifies the URDF from ada.xacro. This will allow users to specify tools from none, fork, and articulable_fork that will manifest kinematically and visually. For developers using ADA before the articulable fork hardware is transitioned in, set the tool to fork.

Related PRs: #53, #54, personalrobotics/ada_feeding#211

Testing procedure

• Run ros2 launch ada_description view_ada.launch.py end_effector_tool:=<tool> for each <tool> in none, fork, and articulable_fork
• Verify that ADA in RViz2 populates as expected with none having no tool, fork having the rigid fork assembly, and articulable_fork having the articulable fork whose joints can be commanded with the slider window

Before opening a pull request

• pre-commit run --all-files
• Run your code through pylint. pylint --recursive=y --rcfile=.pylintrc .. All warnings but fixme must be addressed.

Before Merging

• Squash & Merge

[amalnanavati]

LGTM. All my comments before are small clarifications/nits. Unless you have further questions for me, feel free to merge it in after looking through/addressing the comments.