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Force mode arguments#707

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+139-1

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Commits on Jan 8, 2025

• Added service to set force mode through ROS

  

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• Changed setForce mode to startForceMode and endForceMode. Also made changes to account for changes in msg in PR (ros-industrial/ur_msgs#20)

  

  urmarp

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• Add test of force mode and add arguments in hardware_interface

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• Service name parity between Ros1 and 2

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• Updated force mode functions

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