Update old laser_modes/laser-name/output behaviour

[robert-ros]

Description of the problem

From current configuration of robot_packages: sick.yaml

The laser_modes tag has a different behaviour than other tags (inputs, outputs, custom_inputs, custom_outputs),
specifically the output tag

address_registers:
  laser_mode_output: 2001
  current_speed: 2002

laser_modes:    # custom laser modes
  standard:     #  custom name of the mode
    input: 237  # input to read the mode
    output: 0   # value of the register when writing in the modbus address
  docking_station:
    input: 239
    output: 771
  cart:
    input: 240
    output: 257

Current behaviour of laser_modes/laser-name/output

The input and output tag should give the position in the modbus table. The PLC interprets that information as a the position of a bit in a byte. For example for standard/input the value is 237 and in the PLC is the byte 29 (237/8), bit 8 (237%8).

However, laser_modes/<laser-name>/output works different. The decimal number is a binary representation of two bytes to fill in the PLC.

00000000 00000000  --> 0  --> standard
00000011 00000011  --> 771  --> docking_station
00000001 00000001  --> 257  --> cart

The position of the byte is defined in address_registers/laser_mode_output. In this case 2001 which represents the byte 250 in bit 1. This is the bit, which the number 771, 257 or 0 (in binary) will be apply.

How to do

This behaviour was implemented a long time ago because in robot with two lasers, we needed to set one by one manually. Since a long time, the lasers are managed by the PLC, so we only need to send a single byte.

• The laser_modes/<laser-name>/output has to work with the same logic as the laser_modes/<laser-name>/input
• Check if current_speed is used and remove it if not
• Remove address_registers