Adds the AssemblyInterface to Sawer's GazeboRosControl plugin to handle enable/disable/estop states.
Refactored SawyerGazeboRosControl to make ArmControlInterface and AssemblyInterface member classes
ArmControlInterface handles all of the arm controller switching
AssemblyInterface handles enable & disable logic. In reality, this could be its own ROS node, but I have it as a member variable for now
Added SawyerRobotHWSim to derive from DefaultRobotHWSim which allows us to customize the simulation's estop behavior of cranking up joint damping in simulation when the robot is estopped (in order to simulate mechanical brakes). This could still use some refinement
Adds the AssemblyInterface to Sawer's GazeboRosControl plugin to handle enable/disable/estop states.
SawyerGazeboRosControlto makeArmControlInterfaceandAssemblyInterfacemember classesArmControlInterfacehandles all of the arm controller switchingAssemblyInterfacehandles enable & disable logic. In reality, this could be its own ROS node, but I have it as a member variable for nowSawyerRobotHWSimto derive fromDefaultRobotHWSimwhich allows us to customize the simulation's estop behavior of cranking up joint damping in simulation when the robot is estopped (in order to simulate mechanical brakes). This could still use some refinement