Add missing gpio interfaces for force_mode and freedrive_mode (#251)

Author: urfeex

urdf/ur.ros2_control.xacro

@@ -288,10 +288,72 @@
           <command_interface name="zero_ftsensor_async_success"/>
         </gpio>
 
+        <gpio name="${tf_prefix}freedrive_mode">
+          <command_interface name="async_success"/>
+          <command_interface name="enable"/>
+          <command_interface name="abort"/>
+        </gpio>
+
         <gpio name="${tf_prefix}system_interface">
           <state_interface name="initialized"/>
         </gpio>
 
+        <gpio name="${tf_prefix}force_mode">
+        <command_interface name="task_frame_x"/>
+        <command_interface name="task_frame_y"/>
+        <command_interface name="task_frame_z"/>
+        <command_interface name="task_frame_rx"/>
+        <command_interface name="task_frame_ry"/>
+        <command_interface name="task_frame_rz"/>
+        <command_interface name="selection_vector_x"/>
+        <command_interface name="selection_vector_y"/>
+        <command_interface name="selection_vector_z"/>
+        <command_interface name="selection_vector_rx"/>
+        <command_interface name="selection_vector_ry"/>
+        <command_interface name="selection_vector_rz"/>
+        <command_interface name="wrench_x"/>
+        <command_interface name="wrench_y"/>
+        <command_interface name="wrench_z"/>
+        <command_interface name="wrench_rx"/>
+        <command_interface name="wrench_ry"/>
+        <command_interface name="wrench_rz"/>
+        <command_interface name="limits_x"/>
+        <command_interface name="limits_y"/>
+        <command_interface name="limits_z"/>
+        <command_interface name="limits_rx"/>
+        <command_interface name="limits_ry"/>
+        <command_interface name="limits_rz"/>
+        <command_interface name="type"/>
+        <command_interface name="damping"/>
+        <command_interface name="gain_scaling"/>
+        <command_interface name="disable_cmd"/>
+        <command_interface name="force_mode_async_success"/>
+      </gpio>
+
+      <gpio name="${tf_prefix}trajectory_passthrough">
+        <command_interface name="setpoint_positions_0"/>
+        <command_interface name="setpoint_positions_1"/>
+        <command_interface name="setpoint_positions_2"/>
+        <command_interface name="setpoint_positions_3"/>
+        <command_interface name="setpoint_positions_4"/>
+        <command_interface name="setpoint_positions_5"/>
+        <command_interface name="setpoint_velocities_0"/>
+        <command_interface name="setpoint_velocities_1"/>
+        <command_interface name="setpoint_velocities_2"/>
+        <command_interface name="setpoint_velocities_3"/>
+        <command_interface name="setpoint_velocities_4"/>
+        <command_interface name="setpoint_velocities_5"/>
+        <command_interface name="setpoint_accelerations_0"/>
+        <command_interface name="setpoint_accelerations_1"/>
+        <command_interface name="setpoint_accelerations_2"/>
+        <command_interface name="setpoint_accelerations_3"/>
+        <command_interface name="setpoint_accelerations_4"/>
+        <command_interface name="setpoint_accelerations_5"/>
+        <command_interface name="transfer_state"/>
+        <command_interface name="time_from_start"/>
+        <command_interface name="abort"/>
+      </gpio>
+
         <gpio name="${tf_prefix}get_robot_software_version">
           <state_interface name="get_version_major"/>
           <state_interface name="get_version_minor"/>