Added new Shunk with updated appearance, actuated chuck and action fo…

[RDaneelOlivav]

…r open and close and start operation and end operation. Also decoupled shunk controllers from action. This is an update for the shunk machine. In theory, to use it, the action server has to be called for opening and closing the chuck. And also for staring the operation which won't allow opening the chuck and stopping the operation once it has started. Also, added models with simplified collisions to maximize the grasping ability of the parts, although not tested, because thats another step.

[moriarty]

I will just close and re-open this to trigger the Build.

[ben-fido]

This is very good @RDaneelOlivav , it works now.
Thanks!

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Important things to fix:

Add this to package.xml

<exec_depend>joint_state_controller</exec_depend>
<exec_depend>position_controllers</exec_depend>

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Edit this file:
schunk_machine_server.py
This node is already started under namespace "schunk_machine", so the server path should be "chuck" like this:

self.server = actionlib.SimpleActionServer('chuck', SchunkMachineAction, self.callback, False)

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Add a new launch file:
shunk_machine_start_server_real.launch containing this code:

    <group ns="schunk_machine">
        <arg name="shunk_version" />
        <node name="shunk_machine_server" pkg="fetchit_challenge" type="schunk_machine_server.py"
              respawn="false" output="screen" />
    </group>

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Change axis origin of the door visual and collision mesh:
The axis origin of the sliding door is down near the floor. Can you edit the mesh file so the axis is aligned with one edge of the part? Then change the link offset in URDF file. This will make it easier to fix the inertia values for physics simulation, so the door moves better.

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Then @velveteenrobot needs to edit her sample scripts:

open_schunk_machine.py
close_schunk_machine.py

to send action messages to "/schunk_machine/chuck"

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Minor suggestions:

Schunk logo disappeared from door.

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Rename joints:

lathe_gripper1_joint
lathe_gripper2_joint
lathe_gripper3_joint

to be:

chuck_joint1
chuck_joint2
chuck_joint3

because there is one thing with 3 joints.

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[moriarty]

@velveteenrobot I'm going to merge this.

The Schunk Machine is being packed today I don't know if we'll get a chance to test it but we'll have one day in Montreal before the teams arrive.