Fix topic name for control_mode_handler (#164)

* fix topic name

* add dimensions to xyz rpy doc

---------

Co-authored-by: Svastits <svastits1@gmail.com>

doc/wiki/1_iiQKA_EAC.md

@@ -75,8 +75,8 @@ Both launch files support the following arguments:
 - `robot_model`: defines which LBR iisy robot to use. Available options: `lbr_iisy3_r760` (default), `lbr_iisy11_r1300`, `lbr_iisy15_r930`
 - `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaEACHardwareInterface`. This enables trying out the driver without actual hardware.
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
-- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
-- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame in meters (default: [0, 0, 0])
+- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame in radians (default: [0, 0, 0])
 - `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 2500 us, only used if `use_fake_hardware` is true)
 - `qos_config`: the location of the QoS configuration file (defaults to `kuka_iiqka_eac_driver/config/qos_config.yaml`)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_iiqka_eac_driver/config/ros2_controller_config.yaml`)

doc/wiki/2_KSS_RSI.md

@@ -114,8 +114,8 @@ Both launch files support the following arguments:
 - `robot_model` and `robot_family`: defines which robot to use. The available options for the valid model and family combinations can be found in the [readme](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#what-data-is-verified) of the `kuka_robot_descriptions` repository.
 - `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaRSIHardwareInterface`. This enables trying out the driver without actual hardware.
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
-- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
-- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame in meters (default: [0, 0, 0])
+- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame in radians (default: [0, 0, 0])
 - `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 4000 us, only used if `use_fake_hardware` is true)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_kss_rsi_driver/config/ros2_controller_config.yaml`)
 - `jtc_config`: the location of the configuration file for the `joint_trajectory_controller` (defaults to `kuka_kss_rsi_driver/config/joint_trajectory_controller_config.yaml`)

doc/wiki/3_Sunrise_FRI.md

@@ -63,8 +63,8 @@ Both launch files support the following argument:
 - `robot_model`: defines which LBR iiwa robot to use. Available options: `lbr_iiwa14_r820` (default)
 - `use_fake_hardware`: if true, the `KukaMockHardwareInterface` will be used instead of the `KukaFRIHardwareInterface`. This enables trying out the driver without actual hardware.
 - `namespace`: adds a namespace to all nodes and controllers of the driver, and modifies the `prefix` argument of the robot description macro to `namespace_`
-- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame (default: [0, 0, 0])
-- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame (default: [0, 0, 0])
+- `x`, `y`, `z`: define the position of `base_link` relative to the `world` frame in meters (default: [0, 0, 0])
+- `roll`, `pitch`, `yaw`: define the orientation of `base_link` relative to the `world` frame in radians (default: [0, 0, 0])
 - `roundtrip_time`: The roundtrip time (in microseconds) to be enforced by the [KUKA mock hardware interface](https://github.com/kroshu/kuka_robot_descriptions?tab=readme-ov-file#custom-mock-hardware), (defaults to 5000 us, only used if `use_fake_hardware` is true)
 - `controller_config`: the location of the `ros2_control` configuration file (defaults to `kuka_sunrise_fri_driver/config/ros2_controller_config.yaml`)
 - `jtc_config`: the location of the configuration file for the `joint_trajectory_controller` (defaults to `kuka_sunrise_fri_driver/config/joint_trajectory_controller_config.yaml`)

kuka_iiqka_eac_driver/src/robot_manager_node.cpp

@@ -46,7 +46,7 @@ RobotManagerNode::RobotManagerNode() : kuka_drivers_core::ROS2BaseLCNode("robot_
     this->create_publisher<std_msgs::msg::Bool>("robot_manager/is_configured", is_configured_qos);
 
   control_mode_pub_ = this->create_publisher<std_msgs::msg::UInt32>(
-    "kuka_control_mode_handler/control_mode", rclcpp::SystemDefaultsQoS());
+    "control_mode_handler/control_mode", rclcpp::SystemDefaultsQoS());
 
   rclcpp::SubscriptionOptions sub_options;
   sub_options.callback_group = event_cbg_;