Add kinova gen3 7dof description and moveit config

[abake48]

Add description and MoveIt config for a Kinova Gen 3 Robot arm in an effort to display different robots on the tutorial page.

This is the first step needed in this effort because the MoveIt tutorials rely on using configs from MoveIt Resource in order to make maintaining robot configs self contained.

[rhaschke]

Why do you want to add yet another robot arm to this repo? Note that this repo is used for MoveIt-internal testing only. Please provide at least an informative description in the main comment of a PR.

[tylerjw]

@rhaschke The reason for adding a config here is to use the config on the tutorial site.

[abake48]

Why do you want to add yet another robot arm to this repo? Note that this repo is used for MoveIt-internal testing only. Please provide at least an informative description in the main comment of a PR.

Sorry about that. I added a description. In short, I'm exploring the effort to change the tutorial robot. This is an initial step so the MoveIt_Tutorials don't have to depend an external package which could change from under us and break CI or tutorials.

[rhaschke]

I don't consider it good practice to replicate moveit_config packages of all kinds of robots in moveit_resources.

• It duplicates resources, increasing this repo already to 300MB.
• Keeping track of upstream updates becomes hard.

Sure, using an external repo has the risk of external changes breaking our code. However, following this reasoning we would need to duplicate all upstream packages, which obviously doesn't make sense and is not done.

Actually, all tutorials use the external panda_moveit_config repo nowadays. So, way change that practice? So far, we used moveit_resources only for CI testing (where we need more stability w.r.t. changes).

[tylerjw]

Should we then have a ros-planning/kinova_moveit_config for use by the tutorials instead of putting it here? That seems like it might be an ok approach to this.

[rhaschke]

Why not simply contribute a moveit_config to the upstream repo: https://github.com/Kinovarobotics/kinova-ros/tree/melodic-devel/kinova_moveit/robot_configs?

[abake48]

I do have an up to date moveit_config ready in a separate repo for Kinova's ROS 2 driver. It's not public yet so I'd have to wait for them to release them but if I have the okay to use an external robot config in the tutorials, then I'll close this and go with that approach then.

[tylerjw]

I'm ok with using the "external" config. We can always create a work around if that stops working in the future, as we control the tutorial site.

[abake48]

Sounds good. Closing now. Thank you both