Provide charging status in BatteryState message

Compile cython code during catkin build stretch_funmap

Bugfix/navigation config noetic

This merge is necessary to work with the updated Mitski URDF files and stretch_description package.

This merge is necessary to work with the updated Mitski URDF files and stretch_description package.

Command Group status effort_pct key fix

Fix broken APIs in Command groups after new contact model feature in stretch_body

Signed-off-by: youliang <tan_you_liang@hotmail.com>

This reverts commit dc69b7d420.

Adding the Mitski URDFs

Signed-off-by: youliang <tan_you_liang@hotmail.com>

The contact_thresh_N, contact_thresh_pos_N and contact_thresh_neg_N argument is deprecated by removing the suffix '_N' with all the move_to(),move_by(), translate_by() and rotate_by() APIs that is associated with stepper motors after the new contatc models feature introduced to the stretch_body.