ADD: ignore modbus connection check

Author: slimasziom

robotiq_hande_driver/hardware/include/robotiq_hande_driver/communication.hpp

@@ -7,7 +7,7 @@
 
 namespace robotiq_hande_driver {
 
-static constexpr auto DEBUG_MODBUS = true;
+static constexpr auto DEBUG_MODBUS = false;
 static constexpr auto FAILURE_MODBUS = -1;
 
 static constexpr uint16_t GRIPPER_OUTPUT_FIRST_REG = 0x07D0;

robotiq_hande_driver/hardware/src/hande_hardware_interface.cpp

@@ -82,11 +82,12 @@ HWI::CallbackReturn RobotiqHandeHardwareInterface::on_configure(
         stop_bit_);
     result = gripper_driver_.configure();
 
-    if(result == FAILURE_MODBUS) {
-        RCLCPP_INFO(get_logger(), "Failed to configure Hand-E Gripper");
-        return HWI::CallbackReturn::FAILURE;
-    }
-    RCLCPP_INFO(get_logger(), "Configured Hand-E Gripper");
+    // TODO(issue#10) Modbus connection check always fails
+    // if(result == FAILURE_MODBUS) {
+    //     RCLCPP_INFO(get_logger(), "Failed to configure Hand-E Gripper");
+    //     return HWI::CallbackReturn::FAILURE;
+    // }
+    RCLCPP_INFO(get_logger(), "Configured Hand-E Gripper: %d", result);
     return HWI::CallbackReturn::SUCCESS;
 }