Add support for using the Tool contact in the ROS driver #678
Description
Feature summary
Add support for using the Tool contact feature that already have been added to the Client Library
Expose UR's Tool contact controller feature to enable fast reaction and stop of a commanded trajectory when the tool gets into a contact in the motion direction.
Related issues
UniversalRobots/Universal_Robots_Client_Library#138
Tasks
To complete this issue involves
- Implement the feature
- Make documentation
- Make Unit test
- Make example
- Test on real hardware