Add ability for some nodes to change their task configuration in an online manner #406
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Goal: Allow applicable nodes the ability to change configuration based on what task is being requested. This is to specifically support the BBN integration use-case to start without breaking the cooking topic capability.
Strategy: Expand the system commands message to include a
change_taskcommand that pertinent nodes can listen for.Current nodes that require being able to change configuration:
ros2 run angel_system_nodes object_and_hand_detectorros2 run angel_system_nodes activity_classifier_tcnros2 run angel_system_nodes global_step_predictor