Feature/harware interface

[rbonghi]

New node to control unav by ros.

Now the new node will use ROS_CONTROL

To start a controller you can start with the ros control manager

rosrun controller_manager unspawner name1 name2 name3

TO DO

1. Configure associated yaml file in folder config
2. To write this code I'm following the code in @husky project https://github.com/husky/
   • Husky_base
   • Hardware interface
   • https://github.com/jhu-lcsr-attic/barrett_control
3. Switch control mode hardware to switch type of control for unav:
   • https://github.com/officinerobotiche/uNAV.X
   • http://wiki.ros.org/ros_control/Tutorials/Switching%20control%20modes%20in%20hardware
   • https://github.com/davetcoleman/baxter_ssh/blob/indigo-devel/baxter_control/src/baxter_hardware_interface.cpp

[rbonghi]

To do:

• Add a diagnostic message, see the tutorial in: http://wiki.ros.org/diagnostics/Tutorials
• Add a dynamic reconfigure for PID and other particular paramters: http://wiki.ros.org/dynamic_reconfigure/Tutorials

[rbonghi]

// Declare these as member variables of your class:
hardware_interface::JointModeInterface jm_interface_;
int joint_mode_;

// Add this to your hardware interface's constructor:
jm_interface_.registerHandle(hardware_interface::JointModeHandle("joint_mode", &joint_mode_)); 

With joint_mode_ I've an information about type of controller loaded. TO BE CHECKED