message: close connection to DSA
diff: @@ -642,23 +642,29 @@ public:
  /*!
  * \brief Executes the service callback for disconnect.
  *
  - * Disconnect from SDH and disable motors to prevent overheating.
  + * Disconnect from SDH and DSA and disable motors to prevent overheating.
  * \param req Service request
  * \param res Service response
  */
  bool srvCallback_Disconnect(std_srvs::Trigger::Request &req, std_srvs::Trigger::Response &res) {
  try {
  isInitialized_ = false;
  + isDSAInitialized_ = false;
  +
  + sdh_->SetAxisEnable(sdh_->All, 0.0);
  + sdh_->SetAxisMotorCurrent(sdh_->All, 0.0);
  +
  sdh_->Close();
  + dsa_->Close();
  }
  - catch(const SDH::cSDHErrorCommunication* e) {
  + catch(const SDH::cSDHLibraryException* e) {
  ROS_ERROR("An exception was caught: %s", e->what());
  res.success = false;
  res.message = e->what();
  return false;
  }
  - ROS_INFO("Disconnected from sdh");
  + ROS_INFO("Disconnected");
  res.success = true;
  return true;
  }
  