G.A. vd. Hoorn

Ok. Suggestion: split this into (at least) two items, as reading/writing bytes is already supported by/through MotoROS (see also [REP-I4: Assigned Message Identifiers for the Simple Message Protocol - Assigned...

While convenience is why we're adding them here, I'm going to repeat my advice (which I always give when talking about ROS, robot drivers and IO): consider using a proper...

@steviedale: #362 would also be good to consider here.

#366 added `message` and `success` fields to the service responses. Those could be improved to provide a better indication of the cause of a failure as part of a fix...

I've marked "provide better error messages" as completed, as we now have input verification on the MotoROS side and error reporting on the `motoman_driver`.

WIP PR for "Group IO" support: #435.

WIP PR for "M Register" support: #439.

#438 (and the related PRs #435, #436 and #439) made it clear that including the MotoROS result (sub) code as part of the service response would actually be really nice....

Just merged #435 and updated the OP. Keeping this open to track status of "add MotoROS result (sub) code to service response".

Technically, the responsibility to bring in those packages falls onto the *users* of `kuka_rsi_hw_interface`. Realistically though, most users will want to use `joint_state_controller` and `joint_trajectory_controller` with just about every configuration...