NOTICE

robstride_hardware_interface

Copyright 2026 Minjo Kim
Licensed under the Apache License, Version 2.0; see LICENSE.
The upstream LICENSE and source attribution are retained without alteration.

Source: https://github.com/kmj060703/robstride_hardware_interface
Fork history: https://github.com/griswaldbrooks/robstride_hardware_interface
Maintained fork: https://github.com/PickNikRobotics/robstride_hardware_interface

The PickNik fork retains the source history through
c265ffd07d13c9c9ac7f860a14c82145d647ded0 (hold-torque-on-deactivate lineage),
including torque retention, bounded re-enable attempts, joint-loss freezing,
thermal latching and the verified-rest/cooling handoff.

The motion-mode feedforward change from
14d1edee0e780f1c0911f5d1ceb41e8775aa4c99 is applied on that newer lineage.
Its functional source also appears in the integrated source snapshot at
https://github.com/PickNikRobotics/moveit_pro_example_ws/commit/7d7761965e8082d169be39817ab3545c924e446c
and is included only once. The earlier driver-side fault byte-swap is not
included: the companion PickNik RobstrideSDK decodes fault words already.

PickNik Inc. modifications (2026): hold-torque lifecycle and regression tests;
thermal latching, recovery handoff and tests; bounded motion-mode effort
feedforward and tests; fork-specific documentation and notice installation.
Existing author attributions in the source files and Git history are retained.
These notices do not change the license or claim physical qualification.