Add required command interfaces to xacro

Author: Felix Exner

ur_robot_driver/urdf/ur.ros2_control.xacro

@@ -228,6 +228,38 @@
       <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>
     </ros2_control>
   </xacro:macro>
 </robot>