Add velocities and torques to the joint states

[mbusy]

Adding velocity values and torque values to the joint states.

For a specific joint, if the velocity (and respectively the torque) value is provided, it is included in the velocity (respectively effort) list of the joint state message. If not, a nan is added to the velocity (respectively effort) list. The velocity information is for instance provided for Pepper's LShoulderPitch, but not for its LHand.

[nlyubova]

Hi, thanks for contributing!

[nlyubova]

@Pandhariix what do you think about maintaining naoqi_driver ?

[mbusy]

@nlyubova, I think it could be interesting

[nlyubova]

@Pandhariix please give me your mail address to add you as a maintainer

[mbusy]

mbusy@softbankrobotics.com

[nlyubova]

@Pandhariix you are maintainer now ! congratulations !

[mbusy]

Hi @nlyubova, I just realized that this PR was left pending... Should we merge it ?

[nlyubova]

Hi Maxime,
I left it for you to merge.

For me it's fine to merge whatever you have

Natalia

[nlyubova]

ah, actually there are some builds failing.
Do you know why? could you fix it? (if it's fixable)

and let me know if I could help you

[mbusy]

Alright, I'll merge it then. I checked the CI builds:

• The lunar builds always fail, because naoqi_libqicore is not available for lunar (see this PR), we can't fix that from naoqi_driver.
• The indigo build fails, and that's not normal. I had something similar a while ago, I'll investigate

[nlyubova]

ok, I see

Then, let's merge it! and let me know if you need any help for other PR

[mbusy]

I tried to add a quick fix for the Indigo CI, it didn't do the trick. It would seem that the problem comes from Indigo... I reverted the CI changes, I suggest that we merge the pull request, I'll fix the indigo CI in a dedicated PR

[nlyubova]

anyway, fine for me