Add two_odrive_joints robot

Author: Roelemans

march_hardware_builder/robots/two_odrive_joints.yaml

@@ -0,0 +1,32 @@
+# For convenience it is easiest if the joint order is maintained, it is chosen to sort the joints alphabetically.
+march4:
+  cycleTime: 4
+  slaveTimeout: 50
+  joints:
+    - right_hip_fe:
+        actuationMode: torque
+        allowActuation: true
+        odrive:
+          serial_number: "0x2084387E304E"
+          axis: "axis0"
+          absoluteEncoder:
+            resolution: 17
+            minPositionIU: 2045
+            maxPositionIU: 45632
+          incrementalEncoder:
+            resolution: 12
+            transmission: 101
+
+    - right_knee:
+        actuationMode: torque
+        allowActuation: true
+        odrive:
+          serial_number: "0x2084387E304E"
+          axis: "axis0"
+          absoluteEncoder:
+            resolution: 17
+            minPositionIU: 41533
+            maxPositionIU: 85298
+          incrementalEncoder:
+            resolution: 12
+            transmission: 101

march_hardware_interface/config/two_odrive_joints/controllers.yaml

@@ -0,0 +1,29 @@
+march:
+  controller:
+    pdb_state:
+      type: march_pdb_state_controller/MarchPdbStateController
+      publish_rate: 50
+    joint_state:
+      type: joint_state_controller/JointStateController
+      publish_rate: 250
+    temperature_sensor:
+      type: march_temperature_sensor_controller/MarchTemperatureSensorController
+      publish_rate: 1
+    trajectory:
+      type: effort_controllers/JointTrajectoryController
+      allow_partial_joints_goal: true
+      joints:
+        - right_hip_fe
+        - right_knee
+      gains: # Required because we're controlling an effort interface
+        right_hip_fe: {p: 0, i: 0, d: 0, i_clamp: 100, publish_state: true, antiwindup: true}
+        right_knee: {p: 0, i: 0, d: 0, i_clamp: 100, publish_state: true, antiwindup: true}
+      constraints:
+        right_hip_fe:
+          margin_soft_limit_error: 0.5
+          trajectory: 0.305
+          goal: 0.305
+        right_knee:
+          margin_soft_limit_error: 0.5
+          trajectory: 0.305
+          goal: 0.305