message: FIX: Don't recovery from errors when user stop still pressed
diff: @@ -54,10 +54,13 @@ bool FrankaHWSim::initSim(const std::string& robot_namespace,
  this->action_recovery_ = std::make_unique<SimpleActionServer<franka_msgs::ErrorRecoveryAction>>(
  model_nh, "franka_control/error_recovery",
  [&](const franka_msgs::ErrorRecoveryGoalConstPtr& goal) {
  - try {
  - ROS_WARN_STREAM_COND_NAMED(
  - this->robot_state_.robot_mode == franka::RobotMode::kUserStopped, "franka_hw_sim",
  + if (this->robot_state_.robot_mode == franka::RobotMode::kUserStopped) {
  + ROS_WARN_STREAM_NAMED("franka_hw_sim",
  "Cannot recover errors since the user stop seems still pressed");
  + this->action_recovery_->setSucceeded();
  + return;
  + }
  + try {
  restartControllers();
  ROS_INFO_NAMED("franka_hw_sim", "Recovered from error");
  this->sm_.process_event(ErrorRecovery());
  