add interactive argument to control robot with interactive marker

doc/en/add_new_robot.md

@@ -104,3 +104,7 @@ Before starting, it is important to understand the basics of the [xacro](https:/
   - `velocity` — velocity control, where desired movement speeds are set.  
   - `effort` — effort control, where torques or forces applied to the joints are specified.  
   Default value: `position`.
+
+- **`interactive`**  
+  Specifies whether to run the `motion_control_handle` controller.  
+  Default value: `true`.  

doc/ru/add_new_robot.md

@@ -106,3 +106,7 @@
   - `velocity` — управление скоростью, когда задаются желаемые скорости движения.  
   - `effort` — управление усилием, когда задаются моменты или силы, прикладываемые к суставам.  
   Значение по умолчанию: `position`.
+
+- **`interactive`**  
+  Указывает, нужно ли запускать контроллер `motion_control_handle`.  
+  Значение по умолчанию: `true`.  

env_manager/rbs_runtime/launch/runtime.launch.py

@@ -41,6 +41,8 @@ def launch_setup(context, *args, **kwargs):
     control_space = LaunchConfiguration("control_space").perform(context)
     control_strategy = LaunchConfiguration("control_strategy").perform(context)
 
+    interactive = LaunchConfiguration("interactive").perform(context)
+
     if not scene_config_file == "":
         config_file = {"config_file": scene_config_file}
     else:
@@ -132,6 +134,7 @@ def launch_setup(context, *args, **kwargs):
             "ee_link_name": ee_link_name,
             "control_space": control_space,
             "control_strategy": control_strategy,
+            "interactive_control": interactive,
         }.items(),
     )
 
@@ -284,6 +287,13 @@ def generate_launch_description():
             description="Specify the control strategy (e.g., position control).",
         )
     )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "interactive",
+            default_value="true",
+            description="Wheter to run the motion_control_handle controller",
+        ),
+    )
 
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]

rbs_bringup/launch/control.launch.py

@@ -78,7 +78,7 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "interactive_control",
             default_value="true",
-            description="Whether to activate the gripper_controller.",
+            description="Wheter to run the motion_control_handle controller",
         ),
     ]
 

rbs_bringup/launch/rbs_bringup.launch.py

@@ -37,6 +37,7 @@ def launch_setup(context, *args, **kwargs):
             "ee_link_name": "gripper_grasp_point",
             "control_space": "task",
             "control_strategy": "position",
+            "interactive": "false"
         }.items(),
     )