Document node parameters and switch to config-file based launch

[mmmarinho]

Summary

Applies the standard "ROS 2 Nodes & Parameters" README section and converts the launch file to the config-file-based pattern used by sas_robot_driver_ur.

• Renames launch/sas_force_sensor_bota_launch.py → launch/force_sensor_launch.py and converts it to load parameters from config/config.yaml via name + config_file launch arguments.
• The hardware-specific configuration_file_path (a JSON file) stays a launch argument, now defaulting to config/bota_binary_gen0.json in the package share directory — replacing the previous fragile ../config/ relative-path default.
• Adds config/config.yaml with the topic_name and sampling_time parameters.
• Bug fix: the data_files glob in setup.py only installed config/*.json; added a config/*.yaml entry so the new YAML is installed into the share directory.
• Adds a ROS 2 Nodes & Parameters README section documenting every parameter of the node (type, mandatory/optional, default, purpose).
• Updates the docker compose files and README to the renamed launch file.

Verification

• python3 -m py_compile launch/force_sensor_launch.py passes.
• config/config.yaml parses; setup.py AST-parses.
• Parameter names cross-checked against force_sensor_bota.py.

Note: this PR was created by an AI agent (OpenHands) on behalf of the user.

[mmmarinho]

The path to the .json should be embedded in the .yml

[mmmarinho]

Done — the JSON path is now embedded in the YAML config files (commit 4e510a8):

• config/config.yaml now contains configuration_file_path: bota_binary_gen0.json and a new config/config_ethercat.yaml contains ethercat_gen0.json, so the hardware variant is selected by the YAML file rather than a launch argument.
• force_sensor_launch.py no longer declares a configuration_file_path launch argument; all parameters come from the config file.
• docker/compose_ethercat.yml now selects the variant with config_file:=$$(ros2 pkg prefix sas_force_sensor_bota --share)/config/config_ethercat.yaml.

One deliberate deviation from the UR-style absolute /opt/ros/jazzy/share/... path: bota's docker image removes the apt package and does a colcon build into the dev workspace, so a hardcoded /opt/ros/... path would not resolve inside the container. Instead the YAML stores the JSON filename and the node resolves a non-absolute configuration_file_path against the package config/ directory (absolute paths still work as before, so existing setups are unaffected). This keeps the path embedded in the YAML while remaining install-prefix independent. The README documents the new behavior.

This comment was created by an AI agent (OpenHands) on behalf of the user.

[mmmarinho]

👍

[mmmarinho]

Thanks for the review — glad the embedded JSON path approach works for you. Let me know if there is anything else to adjust.

This comment was created by an AI agent (OpenHands) on behalf of the user.