ROS Noetic support

[MrKeith99]

Here you have some changes I have made so that it is possible to run it on ROS Noetic.
※Most of the changes are changing xacro.py to xacro, and update the transmissions from EffortJointInterface to hardware_interface/EffortJointInterface

• thormang3_description > launch
  • thormang3_mpc.launch

old:
<param name="robot_description" command="$(find xacro)/xacro.py '$(find thormang3_description)/urdf/thormang3.xacro'" />

update:
<param name="robot_description" command="$(find xacro)/xacro '$(find thormang3_description)/urdf/thormang3.xacro'" />

• thormang3_opc.launch

old:
<!--param name="robot_description" command="$(find xacro)/xacro.py '$(find thormang3_description)/urdf/thormang3.xacro'" /-->

update:
<!--param name="robot_description" command="$(find xacro)/xacro '$(find thormang3_description)/urdf/thormang3.xacro'" /-->

• thormang3_rviz.launch

old:
<param name="robot_description" command="$(find xacro)/xacro.py '$(find thormang3_description)/urdf/thormang3.xacro'" />

update:
<param name="robot_description" command="$(find xacro)/xacro '$(find thormang3_description)/urdf/thormang3.xacro'" />

• thormang3_description > urdf
  • thormang3.transmissions.xacro

old:

			<joint name="${name}">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
			</joint>
			
			<actuator name="${name}_motor">
				<hardwareInterface>EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>

update:

			<joint name="${name}">
				<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
			</joint>
			
			<actuator name="${name}_motor">
				<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
				<mechanicalReduction>1</mechanicalReduction>
			</actuator>

• thormang3_gazebo > urdf
  • robotis_world.launch

old:
<param name="robot_description" command="$(find xacro)/xacro.py '$(find thormang3_description)/urdf/thormang3.xacro'" />

update:
<param name="robot_description" command="$(find xacro)/xacro '$(find thormang3_description)/urdf/thormang3.xacro'" />