moveit _pyサンプルパッケージ追加

crane_plus_control/src/crane_plus_hardware.cpp

@@ -205,7 +205,9 @@ return_type CranePlusHardware::read(
     RCLCPP_ERROR(
       rclcpp::get_logger("CranePlusHardware"),
       driver_->get_last_error_log().c_str());
-    return return_type::ERROR;
+    // readに失敗しても通信は継続させる。
+    // 不確かなデータをセットしないようにOKを返す。
+    return return_type::OK;
   } else {
     for (uint i = 0; i < hw_position_states_.size(); ++i) {
       hw_position_states_[i] = joint_positions[i];
@@ -271,7 +273,9 @@ return_type CranePlusHardware::write(
     RCLCPP_ERROR(
       rclcpp::get_logger("CranePlusHardware"),
       driver_->get_last_error_log().c_str());
-    return return_type::ERROR;
+    // writeに失敗しても通信は継続させる。
+    // 不確かなデータをセットしないようにOKを返す。
+    return return_type::OK;
   }
 
   prev_comm_timestamp_ = steady_clock_.now();

crane_plus_examples_py/LICENSE

@@ -0,0 +1,202 @@
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