Merge branch 'develop' into fix/PM-58-reorganize-repo

Author: Olav de Haas

march_hardware/src/IMotionCube.cpp

@@ -153,9 +153,9 @@ void IMotionCube::actuateTorque(int targetTorque)
   ROS_ASSERT_MSG(this->actuationMode == ActuationMode::torque, "trying to actuate torque, while actuationmode = %s",
                  this->actuationMode.toString().c_str());
 
-  // The targetTorque must not exceed the value of 27300 IU, this is 25 A. This value could be increased in the future
-  // (to 30A) with good reasoning.
-  ROS_ASSERT_MSG(targetTorque < 27300, "Torque of %d is too high.", targetTorque);
+  // The targetTorque must not exceed the value of 23500 IU, this is slightly larger than the current limit of the
+  // linear joints defined in the urdf.
+  ROS_ASSERT_MSG(targetTorque < 23500, "Torque of %d is too high.", targetTorque);
 
   union bit16 targetTorqueStruct;
   targetTorqueStruct.i = targetTorque;

march_hardware_interface/include/march_hardware_interface/march_hardware_state_interface.h

@@ -439,6 +439,7 @@ void MarchHardwareInterface::updateAfterLimitJointCommand()
   {
     march4cpp::Joint joint = marchRobot.getJoint(joint_names_[i]);
 
+    after_limit_joint_command_pub_->msg_.header.stamp = ros::Time::now();
     after_limit_joint_command_pub_->msg_.name.push_back(joint.getName());
     after_limit_joint_command_pub_->msg_.position_command.push_back(joint_position_command_[i]);
     after_limit_joint_command_pub_->msg_.effort_command.push_back(joint_effort_command_[i]);
@@ -467,6 +468,7 @@ void MarchHardwareInterface::updateIMotionCubeState()
   for (int i = 0; i < num_joints_; i++)
   {
     march4cpp::IMotionCubeState iMotionCubeState = marchRobot.getJoint(joint_names_[i]).getIMotionCubeState();
+    imc_state_pub_->msg_.header.stamp = ros::Time::now();
     imc_state_pub_->msg_.joint_names.push_back(joint_names_[i]);
     imc_state_pub_->msg_.status_word.push_back(iMotionCubeState.statusWord);
     imc_state_pub_->msg_.detailed_error.push_back(iMotionCubeState.detailedError);