This PR adds a first hardware component from the ros2_control framework that allows to control a set of joints my sending messages to a controlBoard_nws_ros.
For the moment being it is a "write-only" interface for position commands.
This pr also contains:
a little correction for the controlBoard_nws_ros2 (there was a little error in the velocityTopicCallback)
two new ros2 services that allows to get joints position and velocity values from a controlBoard_nws_ros2
A yarpmanager application xml file to test the new hardware_component (this will require also the new cer-sim repo ros2 package, added with PR #42)
This PR adds a first hardware component from the ros2_control framework that allows to control a set of joints my sending messages to a
controlBoard_nws_ros.For the moment being it is a "write-only" interface for position commands.
This pr also contains:
controlBoard_nws_ros2(there was a little error in the velocityTopicCallback)controlBoard_nws_ros2