Cancel Autonomous Behaviors when Joints are Moved

[hello-vinitha]

Description

PR to address Issue #65. Autonomous behaviors were previously not cancelled when the arm, wrist, gripper, and camera joints were moved by the operator. This PR has includes a fix to stop any action in execution when any of these joints are moved.

Testing procedure

• [x] Pull this PR.
• [x] Launch the interface: colcon_cd stretch_web_teleop; ./launch_interface.sh
• [x] Initiate click-to-pregrasp and confirm it cancels when you execute the following actions:
  • [x] Move the base (either through button pad or predictive display)
  • [x] Move the arm
  • [x] Move the wrist
  • [x] Move the gripper
  • [x] Move the camera
  • [x] Click the 'Look...' button and select any option
  • [x] Click the 'Quick Actions...' button and select any option
  • [x] Click 'Follow Gripper'
    • [x] Repeat the above tests for the following systems using both click-to-pregrasp and autonomous navigation:
  • [x] Stretch 2
  • [x] Stretch 3

Before opening a pull request

From the top-level of this repository, run:

• [ ] pre-commit run --all-files

To merge

• [ ] Squash & Merge

[hello-vinitha]

Tested on stretch 2051 and passes the above test cases.