Load the URDF to the resource_manager before parsing it to CM (#222) (#…

…226)

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
(cherry picked from commit 5a94805)

Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>

gz_ros2_control/src/gz_ros2_control_plugin.cpp

@@ -393,6 +393,12 @@ void GazeboSimROS2ControlPlugin::Configure(
   std::unique_ptr<hardware_interface::ResourceManager> resource_manager_ =
     std::make_unique<hardware_interface::ResourceManager>();
 
+  try {
+    resource_manager_->load_urdf(urdf_string, false, false);
+  } catch (...) {
+    RCLCPP_ERROR(
+      this->dataPtr->node_->get_logger(), "Error initializing URDF to resource manager!");
+  }
   try {
     this->dataPtr->robot_hw_sim_loader_.reset(
       new pluginlib::ClassLoader<gz_ros2_control::GazeboSimSystemInterface>(