Support Moveit for real arm

[tongtybj]

Enable use moveit to control a real arm

Features

• add an interface to publish joint_states and receive the joint command.
• implement action server for joint trajectory following
• enable moveit to control a real arm

Notes

• currently only support Mycobot280. for 320,350,600, we have to update the related launch and yaml files

https://user-images.githubusercontent.com/3666095/146381158-b96b264f-fc43-4e8f-bc57-6bad7333aab0.mp4

Usage

## Terminal1:
$ roslaunch mycobot_communication mycobot_interface.launch
## Terminal2:
$ roslaunch mycobot_280_moveit demo.launch

You can also try from moveit_commander instead of the inveractive_marker in RViz:

## Terminal3:
$ rosrun mycobot_280_moveit moveit_commander_sample.py

[tongtybj]

Enable moveit for MyCobot Pro 320.

New Usage:

MyCobot 280:

$ roslaunch mycobot_280 startup.launch
$ roslaunch mycobot_280_moveit demo.launch

MyCobot Pro 320:

$ roslaunch mycobot_320 startup.launch
$ roslaunch mycobot_320_moveit demo.launch

[fedorenchik]

This was closed by GitHub automatically, but should probably be merged.

[k-okada]

@wangWking @weijian sould someone reveiw this PR?