Fix: Generic (#280)

* Check for generic before creating drivetrain parameters

* Add teleop_joy default parameter file for generic robot

* Generic teleop values

* Generic control file without a controller

* Generic empty robot

* Update path to cvontrol in empty generic URDF

Author: luis-camero

clearpath_control/config/generic/control/empty.yaml

@@ -0,0 +1,6 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 20  # Hz
+    use_sim_time: False
+
+    joint_state_broadcaster.type: joint_state_broadcaster/JointStateBroadcaster

clearpath_control/config/generic/teleop_joy.yaml

@@ -0,0 +1,12 @@
+# Generic default Joy Teleop velocity limits
+teleop_twist_joy_node:
+  ros__parameters:
+    # Regular
+    scale_linear.x: 1.0
+    scale_linear.y: 1.0
+    scale_angular.yaw: 1.0
+
+    # Turbo
+    scale_linear_turbo.x: 2.0
+    scale_linear_turbo.y: 2.0
+    scale_angular_turbo.yaw: 2.0

clearpath_generator_common/clearpath_generator_common/param/platform.py

@@ -774,8 +774,9 @@ def __init__(self,
                      clearpath_config: ClearpathConfig,
                      param_path: str) -> None:
             super().__init__(parameter, clearpath_config, param_path)
-            self.default_parameter_file_path = f'config/{self.platform}/control'
-            self.default_parameter = self.clearpath_config.platform.drivetrain.control
+            if self.platform != Platform.GENERIC:
+                self.default_parameter_file_path = f'config/{self.platform}/control'
+                self.default_parameter = self.clearpath_config.platform.drivetrain.control
 
     class TeleopInteractiveMarkers(BaseParam):
         def __init__(self,

clearpath_platform_description/urdf/generic/empty.urdf.xacro

@@ -0,0 +1,15 @@
+<?xml version="1.0"?>
+<robot name="empty" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:arg name="is_sim" default="false" />
+  <xacro:arg name="prefix" default="" />
+  <xacro:arg name="namespace" default="" />
+  <xacro:arg name="gazebo_controllers" default="$(find clearpath_control)/config/generic/control/empty.yaml"/>
+  <xacro:arg name="use_platform_controllers" default="true"/>
+  <link name="base_link"/>
+  <link name="default_mount"/>
+  <joint name="default_mount_joint" type="fixed">
+    <child link="default_mount"/>
+    <parent link="base_link"/>
+    <origin xyz="0 0 0" rpy="0 0 0"/>
+  </joint>
+</robot>