Bug coordinator#80
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) * fix coordinator * Fixed impedance controller export * debugging impedance controller * debugging impedance controller * fix more bugs - need to change impedance status message * Replace impedance state message with custom message * prepare for pr * test different pose error * geodesic distance is fine, im just dumb (cherry picked from commit 9ac9eba)
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) (#83) * fix coordinator * Fixed impedance controller export * debugging impedance controller * debugging impedance controller * fix more bugs - need to change impedance status message * Replace impedance state message with custom message * prepare for pr * test different pose error * geodesic distance is fine, im just dumb (cherry picked from commit 9ac9eba) Co-authored-by: Evan Palmer <evanp922@gmail.com>
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Changes Made
This PR addresses a bug caused by the controller coordinator not waiting for hardware interfaces to finish activating before activating controllers. The controller state message used by the impedance controller was also replaced with a custom message.
Testing
Testing was done in simulation.