An actuator that uses Pigpiox to drive a servo.

This actuator derives its configuration from the joint constraints defined in the robot:

• Position limits from joint.limits.lower and joint.limits.upper
• Velocity limit from joint.limits.velocity
• PWM range maps linearly to the joint's position range

When a position command is received, the actuator:

1. Clamps the position to joint limits
2. Converts to PWM pulse width
3. Sends PWM command to pigpiox
4. Publishes a BB.Message.Actuator.BeginMotion for sensors to consume

Safety

This actuator implements the BB.Safety behaviour. When the robot is disarmed (either by command or due to supervisor crash), the servo PWM output is disabled by setting the pulse width to 0.