“Configuration/Movement/Safety-critical" command interfaces definition and use

[destogl]

[destogl]

This covers also the following proposals:

• @fmauch: Proper connection of ports and lifecycle (Configure “writable in inactive”)
• @christophfroehlich / @saikishor: Fix the HW command interfaces being available in the configured state, rather they should be only marked available upon activation of the HW

Proposal from @destogl

We add an additional method write_when_inactive, and this is called from the INACTIVE state check in the hardware components. Maybe we also can have multiple lists of command interfaces (depending on storage) and we give only those at argument (map or list) that are accessible then. This depends on change from me and @mamueluth

[destogl]

Adding new class and new tag:

Add a new tag in the URDF:

<joint name="${prefix}joint2">
    <configuration_interface name="position">
      <param name="min">-1</param>
      <param name="max">1</param>
    </configuration_interface>
    <state_interface name="position"/>
  </joint>

Then, add a new field in the CommandInterface, marking this for RM.

[bmagyar]

Example: CANOpen-controlled actuator that supports a safety status, interfaces that are only available to write in active, inactive, etc states.