ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write.");
} else {
value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048;
ROS_WARN("Desired angle for id=15 is NaN or outside joint limit, skipping write.");
} else {
value = cmd[4]/GRIPPER_RADIAN_TO_METER/STEPS_TO_RADIAN + 2048;