Added torque-only client_command_mode.

[xmatousm]

Our proposal to torque-only command mode (related to #303). Tested on rolling and humble.

[mhubii]

sorry this went past my attention! Will review this next week.

[xmatousm]

Never mind. Anyway, there was a bug about determining when the commands starts coming from the client. Hope now its fixed. Currently it is tested in humble, I will test this in rolling tomorrow.

[mhubii]

okay just had a brief look, looks pretty reasonable. Will try run this.

Thx for the effort

[mhubii]

Just FYI, trying to get #271 in first.

[mhubii]

Sorry for the delay here. Everything is now setup and I will look into getting this merged ASAP and don't want to block you here.

Just for my understanding and context, are you looking into using something like CRISP: https://github.com/utiasDSL/crisp_controllers?

[xmatousm]

Maybe. I'm not familiar with the CRISP library, as in the project I'm working on (https://www.agimus-project.eu/) the solution for model predictive control is developped, which uses the effort-only interface of a robot.

[mhubii]

Okay got you. Just a quick question, did you run a load data calibration?

[xmatousm]

Course I did. But in some situations the accuracy of the calibration is not enough - sometimes the stack of ros nodes and controllers starts too long that the robot unwanted motion during a "fall" is considerable (and the issue can be expected when robot with some payload in its gripper is e.g. emergency stopped)

[mhubii]

Course I did.

Got you, sorry just checking in case!