<robot_param> and <robot_param_node> tags do not work with ign_ros2_control plugin

[rachit-aggarwal]

I am currently using ROS Humble + Ign Fortress and trying to load ign_ros2_control plugin using Ign Fortress. I am defining my own robot param parameter node as shown below using the instructions in documentation (I changed the plugin to ign as I am using Fortress)

<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
  <parameters>$(find my_description)/config/default_controller.yaml</parameters>
  <robot_param>robot_description</robot_param>
  <robot_param_node>my_robot_state_publisher</robot_param_node>
</plugin>

I get the following error:

[ERROR] [1712874118.400169640] [gz_ros2_control]: robot_state_publisher service not available, waiting again...

It seems that the plugin is trying to access param in default node name robot_state_publisher and not the prescribed node name my_robot_state_publisher. Upon looking up in the source, it seems that the plugin tags were never added. The same TODO is present in the master/rolling and iron branches.

Can the maintainers confirm issue of missing feature or help point out if I am missing something?

[ahcorde]

@rachit-aggarwal This PR #275 should fix your issues