Implement publishing & callbacks for gripper state / arm mode changes, implement services for getting gripper states / arm modes. Code doesn't yet work because messages require circular dependency between pr2_pbd_interaction and pr2_pbd_speech_recognition. About to refactor all messages into new pr2_pbd_msgs package.
Refactor all messages into pr2_pbd_msgs package to avoid circular dependency problem.The system builds and starts to run, but there is still a problem with making the service call.