driver: determine joint2 & 3 coupling factor at runtime (using controller info)

[gavanderhoorn]

The value of the J23_factor can be determined at runtime using info that is stored on the controller on which the KAREL programs are running. As this is (at the moment) the only difference between the fanuc_driver and the generic industrial_robot_client binaries, this would allow the fanuc_driver to return to using those generic binaries.

This would reduce the amount of custom code and launch files, thus reducing maintainance effort and potential sources of errors.

[gavanderhoorn]

This is possible -- and I've already done it -- but changing this behaviour of fanuc_driver will break compatibility between fanuc_driver Karel code (ie: ROS_STATE) and the ROS side. Users will have to be instructed to upgrade the Karel code as well if this ever gets implemented.

[gavanderhoorn]

This will not be addressed any more in fanuc_driver - other developments will take priority.

Community contributions will be accepted though.

Note that fanuc_driver_exp has support for this (but it's not actived).

Closing.