Merge branch 'development' into F_self_test
merged development into F_self_test, selected correct files to merge
using the new sr_movements for easier movement testing of the joints
adding a method to get the subscriber topic from the movement publisher, used in self tests
added a method to return all controlled joints from the hand_commander, useful for iterating over all joints
adding test to get min and max for all joints. Failing for J0s
fixed joint0 for min max
looping over controlled joint, no need to remove dummy joints for list of all joints anymore
working with arm and hand model as well
starting the hand commander for self test in a oneshot timer, otherwise hangs because it's instantiated before the controller manager
trying to send the fingers to a safe pose before running the movements (we want to avoid collisions while testing the movement, still need to fix that for J4 as the safe position for those varies based on which J4 has already moved
safe targets working for J4s as well
fixed small bug - able to restart the test once it has been run once
minor fixes as requested
MFJ4 not FFJ4
RFJ4 not MFJ4
forgot new lines
fixed sr_movement exports
using relative names for services in case we use a workspace
relative path + small sleep to let enough time for the file to be saved