This PR loads additional command groups as needed by reading the end effector configured in Stretch Body. For example, if the Dex Wrist is attached to Stretch, additional command groups for the roll and pitch joints are added, allowing the joints to be commanded from joint trajectory action server and the joint states topic publishes state of the new joints as well.
This PR loads additional command groups as needed by reading the end effector configured in Stretch Body. For example, if the Dex Wrist is attached to Stretch, additional command groups for the roll and pitch joints are added, allowing the joints to be commanded from joint trajectory action server and the joint states topic publishes state of the new joints as well.