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Added service to set force mode #21

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Added service to set force mode #21

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urmarp
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@urmarp urmarp commented Jan 9, 2023

gavanderhoorn
gavanderhoorn reviewed Jan 24, 2023
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See #20 (review)

@fmauch
Use ROS types where it makes sense
b55e185 
The wrench is explicitly not stamped, since its geometric interpretation
differs depending on the `type` used.

Also for the limits a plain 6d vector is used, since its interpretation is
either a velocity or a position boundary.
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fmauch commented Jun 27, 2023

I've updated this PR with what I think makes sense.

@fmauch fmauch mentioned this pull request Jun 28, 2023
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@URJala URJala mentioned this pull request Jul 8, 2024
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@urmarp @fmauch @gavanderhoorn