A number of device-specific software components with C++ and ROS interfaces were developed or updated for the NRI CSA grant to work with the SAW code base:
  - ATI force sensor: https://github.com/jhu-saw/sawATIForceSensor (new)
  - OptoForce sensor: https://github.com/jhu-saw/sawOptoforceSensor (new)
  - Force Dimension haptic devices: https://github.com/jhu-saw/sawForceDimensionSDK (new)
  - Sensable haptic devices: https://github.com/jhu-saw/sawSensablePhantom (updated)

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