Fix Runstop Button and Homing Functionality

[hello-vinitha]

Description

This PR fixes the runstop button functionality and updates the subscriptions for the is_homed and is_runstopped state to use the /joint_states_diagnostics topic from hello-robot/stretch4_ros2#14

Testing procedure for Homing

To test the homing sequence start with a freshly booted robot or reboot the feetechs by running stretch_feetech_reboot. You will have to kill the SBS by running stretch_body_server --kill first. Launch the interface: ./launch_interface.sh

• You should see the calibration required alert at the top of the screen:

- [ ] Click `start calibration` and the robot will start homing. - [ ] When complete you should see an alert that says `calibration complete` and the alert should disappear. - [ ] Refresh the page to check that the homed state is maintained

Testing procedure for the Runstop

Launch the interface: ./launch_interface.sh. The runstop button is in the bottom right corner of the screen. Press it to enable the run stop and press it again to disable.

• Verify the text changes to "Run" and the button pulses when the runstop is enabled.
• Verify the test changes to "Stop" and does not pulse when the runstop is disabled.
• Press the runstop button on the robot and verify the state is updated on the interface.

Before opening a pull request

From the top-level of this repository, run:

• pre-commit run --all-files

To merge

• Squash & Merge

[hello-garv]

LGTM, I will continue working on the stretch4_ros2 PR to improve the homing signal.

[hello-garv]

The calibration notification sticks around until the gripper finishes homing. Works as expected with the latest stretch4_ros2 updates 🥳

[hello-vinitha]

Great! I will merge this PR when hello-robot/stretch4_ros2#14 gets merged.