added doc on how to use framework with your robot or how to add new robot

rbs_bringup/launch/rbs_bringup.launch.py

@@ -35,6 +35,8 @@ def launch_setup(context, *args, **kwargs):
             "scene_config_file": "",
             "base_link_name": "base_link",
             "ee_link_name": "gripper_grasp_point",
+            "control_space": "task",
+            "control_strategy": "position",
         }.items(),
     )
 

rbs_bringup/launch/rbs_robot.launch.py

@@ -225,7 +225,17 @@ def generate_launch_description():
         DeclareLaunchArgument(
             "robot_type",
             description="Type of robot to launch, specified by name.",
-            choices=["rbs_arm", "ar4", "ur3", "ur3e", "ur5", "ur5e", "ur10", "ur10e", "ur16e"],
+            choices=[
+                "rbs_arm",
+                "ar4",
+                "ur3",
+                "ur3e",
+                "ur5",
+                "ur5e",
+                "ur10",
+                "ur10e",
+                "ur16e",
+            ],
             default_value="rbs_arm",
         )
     )
@@ -416,7 +426,6 @@ def generate_launch_description():
         )
     )
 
-
     return LaunchDescription(
         declared_arguments + [OpaqueFunction(function=launch_setup)]
     )