Oceanwater 975 limit system faults publish rate

[anthonykoutroulis]

Linked Issues:

| Jira Ticket 🎟️ | OCEANWATER-975 |

Summary of Changes

• Have the Joint Faults module subscribe to the original Joint States message, rather than just the gazebo sim updates.
• Change the /flags/joint_states publishing to happen as Joint States messages are received (same rate), rather than on every update
• Flags are still internally updated at sim time.
• Fault detector unchanged, but now /system_faults_status publishes at the correct 50Hz, corresponding to the rate the lander updates rather than as fast as it can to keep up with gazebo sim ticks (was ~400Hz)

Test

• Run a scenario, ie: roslaunch ow atacama_y1a.launch
• In another terminal, monitor the system faults message content: rostopic echo /system_faults_status
• In another terminal, monitor the system faults message rate: rostopic hz /system_faults_status
• Observe a fault value of value: 0 (no faults), and a topic rate of 50Hz
• In the rqt_gui, activate an arm fault: Dynamic Reconfigure -> faults -> arm_faults
• Observe the fault value updates correctly: value: 4

[kmdalal]

Test passed, looks good!