Arm teleop fixes

[ConnorNeed]

This pull request introduces several important improvements and fixes across the arm control, hardware interface, and teleop subsystems. The main themes are: improved safety and feedback for arm teleoperation, more robust and accurate TalonSRX motor control (especially for crossover/continuous joints), and the addition of a service to stop arm motion. There are also configuration and URDF updates to support these changes.

Arm Teleop Improvements:

• Refactored the ArmTeleop state machine to provide more informative states (e.g., NO_MESSAGE, UNPLUG_ERROR, WIGGLE_WARNING, IDLE) and improved initialization checks, including better user feedback and error handling when the joystick is not ready or needs to be replugged (arm_teleop.hpp, arm_teleop.cpp). [1] [2] [3] [4] [5] [6] [7] [8] [9]
• Added state publishing and readiness checks to ensure the arm only responds to commands when properly initialized. [1] [2]
• Improved mapping of joystick throttle to joint and Cartesian velocities for smoother and safer teleoperation. [1] [2] [3]

Arm Control / Motion Group:

• Added a stop service (std_srvs/Trigger) to the MoveGroupNode, allowing external components to immediately halt arm motion safely. [1] [2] [3] [4] [5]
• Reduced maximum allowed velocities for linear, rotational, and joint movements in the arm configuration to improve safety and control.

TalonSRX Motor Control (Hardware Interface):

• Refactored position/velocity conversion logic to use new ticks_to_rads and rads_to_ticks helpers, improving accuracy and clarity, especially for joints in crossover (continuous) mode. [1] [2] [3] [4]
• Fixed and simplified handling of crossover mode for continuous joints, ensuring correct position tracking and command execution.
• Set ConfigFeedbackNotContinuous(false) to standardize feedback configuration.

URDF/Configuration Updates:

• Updated URDF to use the new crossover parameter for continuous joints, matching the code changes.

Safety and Usability:

• Lowered velocity limits in the arm configuration YAML file for safer teleoperation and control.

These changes together improve the safety, reliability, and user feedback for arm teleoperation and hardware control.

[Copilot]

Pull request overview

This PR improves rover arm teleoperation safety/UX, adds an explicit “stop motion” service to the arm MoveGroup node, and refines TalonSRX continuous-joint (“crossover”) handling and related configuration/URDF parameters.

Changes:

• Refactors ArmTeleop into more explicit readiness/error states and scales teleop velocities by joystick throttle.
• Adds a ~/stop (std_srvs/Trigger) service to MoveGroupNode to stop motion immediately.
• Updates TalonSRX rad↔tick conversion logic and switches URDF joint config from continuous to crossover, plus lowers arm servo velocity limits.

Reviewed changes

Copilot reviewed 8 out of 8 changed files in this pull request and generated 4 comments.

Show a summary per file

File	Description
src/URDF/rover_urdf/urdf/arm_urdf.ros2_control.xacro	Switches continuous-joint flagging to the new crossover parameter.
src/Teleop-Control/joystick_control/src/arm_teleop.cpp	Implements new teleop state machine, readiness checks, state publishing, and throttle scaling.
src/Teleop-Control/joystick_control/include/arm_teleop.hpp	Updates state enum and adds helpers for readiness/state publishing.
src/HW-Devices/hardware/src/TalonSRXWrapper.cpp	Refactors conversions and crossover position tracking; standardizes Talon feedback configuration.
src/HW-Devices/hardware/include/TalonSRXWrapper.hpp	Adds conversion helpers and stores raw position for crossover computations.
src/Arm/arm_control/src/MoveGroupNode.cpp	Adds ~/stop service callback to stop MoveGroup motion.
src/Arm/arm_control/include/arm_control/MoveGroupNode.hpp	Declares the new stop service and includes Trigger definition.
src/Arm/arm_control/config/arm_config.yaml	Reduces max linear/rotational/joint speed scaling for safer arm motion.

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