Merge pull request #45 in SWDEV/franka_ros from...

Merge pull request #45 in SWDEV/franka_ros from feature/SWDEV-348-finished-and-cancelled-motions to master

* commit '1fc7aff53a74f30db2140a13162791f1e2a93f1e':
  Jenkinsfile: Fix issue with Jenkins project names.
  Replace uses of franka::Stop.

Jenkinsfile

@@ -14,7 +14,7 @@ node {
         step([$class: 'CopyArtifact',
               filter: 'libfranka-*-amd64.tar.gz',
               fingerprintArtifacts: true,
-              projectName: "SWDEV/libfranka/${BRANCH_NAME}",
+              projectName: "SWDEV/libfranka/${java.net.URLEncoder.encode(env.BRANCH_NAME, "UTF-8")}",
               selector: [$class: 'StatusBuildSelector', stable: false]])
       } catch (e) {
         // Fall back to master branch.

franka_hw/include/franka_hw/franka_hw.h

@@ -172,11 +172,8 @@ class FrankaHW : public hardware_interface::RobotHW {
                     const franka::RobotState& robot_state,
                     franka::Duration time_step) {
     robot_state_ = robot_state;
-    if (!controller_active_) {
-      return franka::Stop;
-    }
-    if (ros_callback && !ros_callback(robot_state, time_step)) {
-      return franka::Stop;
+    if (ros_callback && !ros_callback(robot_state, time_step) || !controller_active_) {
+      return franka::MotionFinished(command);
     }
     return command;
   }