Stall Guard for Gripper

[chosterto]

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[chosterto]

@LfovS9 One last favor, could you add a log right before initializing the arm hardware that shows whether virtual CAN is enabled? Just so that errors on bringup are less ambiguous

    bool use_vcan_interface;
    std::string use_vcan_hw_param = info_.hardware_parameters["use_vcan"];
    std::transform(use_vcan_hw_param.begin(), use_vcan_hw_param.end(), use_vcan_hw_param.begin(), ::tolower);
    std::istringstream(use_vcan_hw_param) >> std::boolalpha >> use_vcan_interface;
    // TODO: Add log here...
    if (arm_hardware_.initialize(&use_vcan_interface) < 0)
    {
        return hardware_interface::CallbackReturn::ERROR;
    }
...

In addition, you could also add another error code for arm_controller (right now all errors are -1), one to indicate a CAN error when attempting to open the CAN transport, and the other a device read error

[chosterto]

Looks good, thanks!