integrated robot communication monitoring into current state monitor #17
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reidchristopher
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Aug 23, 2019
Fix issue Levi-Armstrong#7 with test
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Added communication monitoring into CurrentStateMonitor. Initialized needed parameters in startStateMonitor and created a timer callback, CheckRobotCommError, for checking and advertising error status.
Currently, the timer parameter comm_error_check_frequency is set to check for communication errors every 3 seconds. If jointStateCallback is subscribed, comm_count is increased to indicate communication has occurred. When the timer goes off after 3 seconds, the error message is established and published based on comm_count, and comm_count is reset to 0.