Add feature publish empty error-id topic in no error

[tmksat]

Overview

I will implement a function that allows you to confirm that the MG400 has recovered from an error state simply by subscribing to the “error_id” topic. To do this, we will publish an empty “error_id” topic when the system recovers from an error state.

Solution

• Add parameter "allow_publish_empty_error_id" to enable this function. Default is true.
• In the onErrorTimer handler, if the current status of MG400 does not indicate an error and the previous check indicated an error, publish an empty error_id topic.

Test

1. Start up the MG400 main unit.

2. Launch MG400_ROS2.

ros2 launch mg400_bringup main.launch.py

3. Subscribe to the “error_id” topic using a command

ros2 topic echo /mg400/error_id

4. Press the emergency stop button.

5. Call "clear_error" service.

ros2 service call /mg400/clear_error mg400_msgs/srv/ClearError {}\ 

6. Confirm that the empty “error_id” topic is being published once.

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controller:
  ids:
  - 85
servo:
- ids: []
- ids: []
- ids: []
- ids: []
- ids: []

<---- call service "clear_error"

controller:
  ids: []
servo:
- ids: []
- ids: []
- ids: []
- ids: []
- ids: []
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