Flexiv ROS 2 Jazzy 1.9

COMPATABILITY

• Flexiv robot software v3.11
• Flexiv RDK v1.9
• Flexiv DRDK v1.2 (for dual-robot setup)
• ROS 2 Jazzy

ADD

• Add DRDK hardware interface support for Jazzy, including dual-arm hardware interface implementation and plugin integration (#65).
• Add dual-arm bringup and MoveIt launch/config support for rizon_dual.
• Add AICO external axis control and MoveIt SRDF/planning/controller configs for AICO models (#84).
• Add flexiv.jazzy.repos for importing external dependencies (flexiv_description, flexiv_rdk).

CHANGE

• Update RDK dependency to v1.9 [Flexiv RDK 1.9].
• Update flexiv_drdk dependency to v1.2 [Flexiv DRDK 1.2].
• Migrate flexiv_description out of this repository and consume it as an external repository via .repos file (#61).
• Update arm collision handling in rizon_dual SRDF.
• Update NaN check variable naming in FlexivHardwareInterface::write().
• Update README and Jazzy binary build workflow.

FIX

• Fix dual-arm collision handling in rizon_dual SRDF.
• Refine NaN-check variable naming consistency in hardware interface write path.