Feat/arm2

[MKerner3]

Description

This PR does the following:

• Integrates a robotic arm onto the current rover urdf.
• Adds joint state broadcasters and controllers for the robotic arm and gripper.
• Adds moveit setup files necessary for operating the robotic arm with moveit2.
• Makes the arm controller node functional with manual control integration in gazebo.

Fixes #102 , #7

Testing Steps

Open two terminal windows. On the first window:

1. cd to your rover-colcon
2. colcon build
3. . install/setup.bash
4. ros2 launch urc_gazebo simulation.launch.py

   On your second window:

5. cd to your rover-colcon
6. colcon build
7. . install/setup.bash
8. ros2 launch urc_manipulation arm_controls.launch.py

Expectation: The robot arm model should be mounted on top of the robot. When arm_controls.launch.py is launched, xbox controller inputs should be detected/published by the /joy topic, /servo_node/delta_twist_cmds and /servo_node/delta_joint_cmds should register commands from /joy, and /arm_controller/joint_trajectory should publish the rover's joint trajectory as it moves in simulation. With the current rover urdf, it may take a few seconds before controller input moves the arm. This is because the arm control node will try to look for joint states of the rover wheels before enabling.

Design Doc

Link to Google Doc

Self Checklist

• [x] I have tested that the new behavior works