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Delay coordinator controller launch until after hardware interfaces (#80)
* fix coordinator * Fixed impedance controller export * debugging impedance controller * debugging impedance controller * fix more bugs - need to change impedance status message * Replace impedance state message with custom message * prepare for pr * test different pose error * geodesic distance is fine, im just dumb
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‎auv_control_demos/CHANGELOG.md‎

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# Changelog for package auv_control_demos
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## 0.4.2 (2026-03-30)
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## 0.4.1 (2026-02-23)
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## 0.4.0 (2025-08-01)

‎auv_control_demos/package.xml‎

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<package format="3">
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<name>auv_control_demos</name>
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<version>0.4.1</version>
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<version>0.4.2</version>
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<description>Example package that includes demos for using auv_controllers in individual and chained modes</description>
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<maintainer email="mitchcol@oregonstate.edu">Colin Mitchell</maintainer>
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<maintainer email="everardo.a.gonzalez@gmail.com">Everardo Gonzalez</maintainer>
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<maintainer email="rakeshvivek97@gmail.com">Rakesh Vivekanandan</maintainer>
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<maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
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<license>MIT</license>
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‎auv_control_msgs/CHANGELOG.md‎

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# Changelog for package auv_control_msgs
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## 0.4.2 (2026-03-30)
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- Implements the ImpedanceStateStamped message.
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## 0.4.1 (2026-02-23)
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## 0.4.0 (2025-08-01)

‎auv_control_msgs/CMakeLists.txt‎

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"msg/CartesianTrajectoryControllerStateStamped.msg"
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"msg/ImpedanceCommand.msg"
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"action/FollowCartesianTrajectory.action"
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"msg/ImpedanceStateStamped.msg"
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DEPENDENCIES builtin_interfaces std_msgs geometry_msgs trajectory_msgs
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)
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‎auv_control_msgs/msg/ImpedanceCommand.msg‎

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std_msgs/Header header
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# The frame ID of the velocity and force/torque setpoints.
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string child_frame_id
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# The configuration setpoint.
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geometry_msgs/Pose pose
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# The velocity setpoint.
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geometry_msgs/Twist twist
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# The force/torque setpoint.
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geometry_msgs/Wrench wrench

‎auv_control_msgs/msg/ImpedanceStateStamped.msg‎

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# This message represents the state of the impedance controller.
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std_msgs/Header header
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# The configuration setpoint.
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geometry_msgs/Pose reference_pose
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# The velocity setpoint.
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geometry_msgs/Twist reference_twist
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# The force/torque feed-forward setpoint.
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geometry_msgs/Wrench reference_wrench
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# The measured configuration.
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geometry_msgs/Pose feedback_pose
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# The measured velocity.
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geometry_msgs/Twist feedback_twist
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# The vector representation of the left-trivialized error.
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geometry_msgs/Twist error_pose
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# The velocity error defined in the child frame ID.
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geometry_msgs/Twist error_twist
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# Time between two consecutive updates/execution of the control law.
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float64 time_step
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# The calculated control output.
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geometry_msgs/Wrench output

‎auv_control_msgs/package.xml‎

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<package format="3">
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<name>auv_control_msgs</name>
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<version>0.4.1</version>
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<version>0.4.2</version>
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<description>Custom messages for AUV controllers</description>
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<maintainer email="rakeshvivek97@gmail.com">Rakesh Vivekanandan</maintainer>
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<maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>
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<license>MIT</license>
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‎auv_controllers/CHANGELOG.md‎

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# Changelog for package auv_controllers
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## 0.4.2 (2026-03-30)
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- Implements the ImpedanceStateStamped message
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- Fixes controller coordinator hardware interface activation
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- Fixes impedance controller memory leak and miscellaneous bugs
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## 0.4.1 (2026-02-23)
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## 0.4.0 (2025-08-01)

‎auv_controllers/package.xml‎

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<package format="3">
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<name>auv_controllers</name>
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<version>0.4.1</version>
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<version>0.4.2</version>
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<description>Meta package for auv_controllers</description>
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<maintainer email="evanp922@gmail.com">Evan Palmer</maintainer>

‎controller_common/CHANGELOG.md‎

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# Changelog for package controller_common
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## 0.4.2 (2026-03-30)
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## 0.4.1 (2026-02-23)
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## 0.4.0 (2025-08-01)

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