Add sim_isaac ros2_control xacro arg

Author: MarqRazz

robotiq_description/urdf/robotiq_sim_gripper.ros2_control.xacro

@@ -1,10 +1,23 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="robotiq_sim_gripper_ros2_control" params="name">
+    <xacro:macro name="robotiq_sim_gripper_ros2_control" params="
+      name
+      sim_isaac:=false
+      use_fake_hardware:=false">
+
         <ros2_control name="${name}" type="system">
             <hardware>
-                <plugin>fake_components/GenericSystem</plugin>
+                <xacro:if value="${sim_isaac}">
+                    <plugin>isaac_ros2_control/IsaacSystem</plugin>
+                    <param name="joint_commands_topic">/isaac_joint_commands</param>
+                    <param name="joint_states_topic">/isaac_joint_states</param>
+                </xacro:if>
+                <xacro:if value="${use_fake_hardware}">
+                    <plugin>mock_components/GenericSystem</plugin>
+                    <param name="fake_sensor_commands">${fake_sensor_commands}</param>
+                    <param name="state_following_offset">0.0</param>
+                </xacro:if>
             </hardware>
             <joint name="robotiq_85_left_knuckle_joint">
                 <param name="initial_position">0.7929</param>