z1_controller cannot control Z1 arm mounted on quadruped (aliengoZ1 model)

[paulblum]

Currently, the z1_controller repository provides a ROS control interface for the Unitree Z1 robotic arm in the /z1_gazebo namespace. However, there is a need to extend support for controlling the Z1 arm when it is mounted on the Aliengo quadruped using the aliengoZ1 model.

Failed attempt to control Z1 arm joints within aliengoZ1_description in Gazebo

Details:

• IOROS is Unitree's control interface for Z1 in ROS Gazebo simulation.
• Within IOROS, joint controller topic names are hard-coded with the /z1_gazebo namespace, making z1_controller incompatible with the aliengoZ1_description model, which uses namespace /aliengoZ1_gazebo.
• This limitation prevents users from controlling the Z1 arm when it is mounted on the Aliengo quadruped in Gazebo simulation.