- Introduced `rclcpp::Logger` for consistent logging throughout `RbsServoActuator`.
- Renamed joint state and command variables to `hw_joint_angle`, `hw_joint_velocity`, `hw_joint_target_angle`, and `hw_joint_target_velocity` for clarity.
- Added parameters `can_interface` and `can_node_id`, allowing configurable CAN interface and node ID.
- Enhanced CAN initialization and error handling in `on_init` to properly retrieve interface index and bind the socket.
- Implemented structured CAN message handling:
- Sends activation command when the actuator is enabled.
- Reads and logs incoming CAN frames for joint state updates.
- Ensures error handling for failed read/write operations.
- Updated URDF (`simple_robot.urdf`) to include `can_interface` and `can_node_id` parameters for hardware configuration.
Bill Finger
8525854579