toki d6cc80c17e fix: compatible with canfd (#7) ... ## Summary This PR updates the C++ hardware interface to support **CANFD** and confirms successful operation with **MoveIt** on the actual robot hardware. --- ## Changes Made - Migrated from classic CAN to **CANFD** in the motor control interface. - Updated the following modules: - `openarm_hardware/include/openarm_hardware/canbus.hpp` - `openarm_hardware/src/canbus.cpp` - `openarm_hardware/src/motor_control.cpp` - `openarm_hardware/include/openarm_hardware/motor_control.hpp` - `openarm_hardware/src/openarm_hardware.cpp` - Improved CAN socket handling and data frame structure. - Refactored internal motor communication logic for robustness. --- ## Verification - Confirmed joint control and motion execution with real hardware using **MoveIt**. - Controllers were properly loaded and executed planned trajectories without error. - CANFD communication is now functional and stable during runtime.		2025-05-19 11:32:09 +09:00
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openarm_hardware	fix: compatible with canfd (#7)	2025-05-19 11:32:09 +09:00