Dinesh Thakur

Move some trackers not dependent on `planning_ros_msgs` from `action_trackers` to [kr_mav_control](https://github.com/KumarRobotics/kr_mav_control)

find_package(grl), ${grl_LIBRARIES}

14

I would like to link GRL libraries to a catkin package. grlflatbuffers targets does not get installed currently in /opt/grl/lib. I would like to have ${grl_LIBRARIES} be set for cmake....

additional checks in for commandedPosition_goal in JavaDriver?

9

The plugin crashes when I switch to ArmState_MoveArmJointServo. Maybe it is good to have additional check on commandedPosition_goal at https://github.com/ahundt/grl/blob/master/include/grl/kuka/KukaJAVAdriver.hpp#L254 ` !!decoding error: missing required field!! commandedpos:[] terminate called after...

add a mode_service for changing interaction_mode

3

Currently there is no std_srvs for sending a string. How do you want to structure non-standard srvs in grl? Thoughts on how to handle message_generation/message_runtime in CMake Basis?

Safety Checks

4

Manager: The Motors can be turned off while in-flight. There has to be checks to make sure this is done only when landed. Other safety checks need to be considered