BrightSky Internship Changes (Luka and Panin)

[panin-anan]

This pull adds two topic subscribers for turning on and turning off micro-epsilon scancontrol laser line scanner with the driver.

Motivation

• Before this change, the laser line scanner was automatically turned on when power is plugged in. It stays on, always scanning, and transferring scan profiles. The first motivation was to prevent laser line scanner from operating and being in heat all the time, risking faster degradation than necessary.
• The second motivation was the demand to control the amount of scan profile transfer by the laser line scanner. We wanted to record only the necessary profile to minimize data storage size. Thus, we created topics to command the scanner to turn on and off.

Changes

• Added /laseron and /laseroff topic subscriber as laser_on_callback and laser_off_callback functions in driver.cpp (and driver.h). The driver turns on and turn off the laser line scanner when an Empty message (std_msgs/Empty) is published to the topic /laseron and /laseroff, respectively. The specific command used to turn on and turn off the laser is driver.SetFeature(FEATURE_FUNCTION_LASERPOWER, 2). 2 for on and 0 for off.

• Profile transfers are also automatically turned on and off with the laser by the callbacks using the existing StartProfileTransfer() and StopProfileTransfer() functions.