Michael Ferguson

Looking at the code - yup, this is definitely an issue - the switch statement logic will basically never hit the default case

The original logic was: - for each joint model: - if REVOLUTE & continuous, call enforceBounds() [OK] - else - if PLANAR - normalizeRotation [OK] - else FLOATING - normalizeRotation...

Should not be merged until jazzy/humble branches are changed over in rosdistro

This is still waiting on latest pcl_conversions to get synced to kilted/rolling

Just noting for whoever takes this on - even though ros2_control no longer uses GripperCommand, there are a number of robots out there that use other control frameworks with that...

It's really more ROS-y to use the already supported topic remapping (https://design.ros2.org/articles/static_remapping.html), rather than a parameter. Typically, the only time a parameter is used would be when you have lots...

I haven't really reviewed this yet - but it is going to conflict heavily with #944 (which is trying to remove this node entirely, will merging the functionality into image_saver)