Subtask of space-concordia-robotics/robotics-prototype#634
Edit IKNode, absenc_node, arm_controller_node for arm refactor. The topics they receive from and subscribe to have changed:
[ ] arm_controller_node only subscribes to arm_values, which contains speed values of the 6 motors
[ ] IKNode subscribes to arm_axes and absenc_values to perform its calculations and initialize itself. It publishes desired motor angles to joint_states.
[ ] absenc_node receives from joint_states (and from the hardware absolute encoders) to control the motors. Also publishes the current motor angles to absenc_values
Subtask of space-concordia-robotics/robotics-prototype#634
Edit IKNode, absenc_node, arm_controller_node for arm refactor. The topics they receive from and subscribe to have changed: