collision detection Kawada robot

Goal: Have a collision detection on the Kawada robot to stop the robot when a collision with the human occurs.

This Repo has code that we used for a previous project, and would just require adapting the ROS messages to the Kawada setup. Concretely,

• Do a test build in the workspace, make sure it compiles fine (don't think there's any dependencies)
• Either change the F/T sensor publisher in Kawada to publish joint_state messages or adapt here to read the message type that we publish from https://gitlab.cc-asp.fraunhofer.de/ipk_aut/converging/ft_sensor_aiden_ros to be a joint_state. Can happily get Philip to support here.
• Test the threshold / parameters to see if it works on our setup.
• re-test the collision detection in free space after the force/torque sensor is fixed (see issue )

Once it's working, we'll work with Rosa to get the ROS topic sent to trigger a safety stop. Goal is to have a working version at end of May, as a partner will visit to test the safety equipment.