Zultron/2022 09 19 rebase for PRs: 8 refactor init+hal pin handling #20

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zultron wants to merge 94 commits into tormach:foxy-devel from zultron:zultron/2022-09-19-rebase_for_PRs-8-refactor_init+hal_pin_handling

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Zultron/2022 09 19 rebase for PRs: 8 refactor init+hal pin handling #20

Merge branch 'zultron/2022-09-19-rebase_for_PRs-7-fault_handling+sdo_…

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