[stevenaya]

Depends on #125.

Group component joints into explicitly named control systems and assign stable system-local joint indices in the preset.

Changes

• Replace per-component control blocks with systems.<name>.joints, mapping each component's stable joint keys to {idx: ...} entries.
• Resolve final names through the component descriptions' name maps and use the same mimic selection as model generation. Require non-negative, unique indices within each active system, allow gaps, and emit joints in index order with an idx parameter.
• Support multiple components in one system and disjoint subsets of one component in separate systems. Skip disabled components and reject unknown references or duplicate joint assignments.
• Supply standard OpenArm plugin and CAN defaults from the model entry. Preserve the CAN launch arguments, control-emission switch and automatic mock selection.
• Allow system-level command/state interface lists, defaulting to position, velocity and effort. Validate the current OpenArmHW seven-arm-joint and optional single-gripper-joint requirement in real-hardware mode.

The preset can declare a complete left-arm system as follows.

systems:
  openarm_left_hardware_interface:
    joints:
      primary_arm:
        joint1: {idx: 1}
        joint2: {idx: 2}
        joint3: {idx: 3}
        joint4: {idx: 4}
        joint5: {idx: 5}
        joint6: {idx: 6}
        joint7: {idx: 7}
      primary_arm_end_effector:
        joint1: {idx: 8}

The idx parameter identifies a joint within its system for runtime configuration binding. Motor CAN addresses remain driver configuration.

Validation

• 30 existing tests pass on ROS 2 Jazzy, covering grouping, joint subsets, names/mimic, stable index ordering, invalid assignments and interface selection.
• The five shipped V2 presets retain their model/control output across export, mock and real-hardware declaration modes, apart from the added index metadata.
• Current openarm_ros2 main bringup and MoveIt URDF generation accept the CAN arguments.

Review the control changes after #125.

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