Node name matching in giskard external_interface is not correct

[TahaTabatabaei]

Hello,

in this file:
src/pycram/external_interfaces/giskard.py, inside the wrapper() function (line 61), if statements check the name
of the node /giskard with the slash character in the string. However, the get_node_names() function returns
the names without the slash character in the name. In this case, it returns giskard instead of
/giskard.

This results in the if statements never become True, so the if statments should check the names without the slash character.

how it looks like now:

def wrapper(*args, **kwargs):

        from giskardpy.python_interface.old_python_interface import OldGiskardWrapper as GiskardWrapper
        from giskard_msgs.msg import WorldBody, MoveResult, CollisionEntry
        from geometry_msgs.msg import PoseStamped as ROSPoseStamped, PointStamped, QuaternionStamped, Vector3Stamped

        global giskard_wrapper
        global giskard_update_service
        global is_init
        if is_init and "/giskard" in get_node_names():
            return func(*args, **kwargs)
        elif is_init and "/giskard" not in get_node_names():
            logwarn("Giskard node is not available anymore, could not initialize giskard interface")
            is_init = False
            giskard_wrapper = None
            return

        if "giskard_msgs" not in sys.modules:
            logwarn("Could not initialize the Giskard interface since the giskard_msgs are not imported")
            return

        if "/giskard" in get_node_names():
            giskard_wrapper = GiskardWrapper()
            loginfo_once("Successfully initialized Giskard interface")
            is_init = True
        else:
            logwarn("Giskard is not running, could not initialize Giskard interface")
            return
        return func(*args, **kwargs)
    return wrapper

replace
if is_init and "/giskard" in get_node_names():
with
if is_init and "giskard" in get_node_names():
and
if "/giskard" in get_node_names():
with
if "giskard" in get_node_names():

I use ros2 jazzy.
The pycram was downloaded from dev branch by following the installation guide.
The giskardpy was downloaded from the giskard_library branch.