Torque control and motor rebooting

[rosterloh]

I'd really like to add the ability to enable and disable the torque at runtime as well as reboot a motor if a fault is detected. I was thinking a parameters would be a nice way to do the torque and a service/subscription for reboot but hardware_interface::SystemInterface does not allow this ability. Do you have any suggestions for how to implement this and still keep only one instance of DynamixelWorkbench?

[gpicardi]

Hi, I also need to add the option for rebooting motors. Have you found a solution for your work?
Thanks!