Add capability of execute known trajectory with a ROS action

[wkentaro]

Proposed at https://github.com/ros-planning/moveit_ros/pull/709#discussion_r70888457 https://github.com/ros-planning/moveit_ros/pull/713#issuecomment-232848243 Depends on https://github.com/ros-planning/moveit_msgs/pull/23

[davetcoleman]

The background for why we need this: "In order to allow stopping of a trajectory, the service should be turned into an action as well."

[rhaschke]

@wkentaro I started to work along that direction too. In my comment for #717 I wrote:

An alternative, IMHO even better approach is to turn the service into an action, which provides feedback and can be explicitly interrupted. I did that, but it requires several changes to existing moveit_config packages: as the service capability would be renamed (from MoveGroupExecuteService to MoveGroupExecuteAction all move_group.launch files would need an update.

I pushed two new branches:

• traj-exec-action: replace the service by an action (doesn't work without major changes as indicated)
• new-traj-exec-action: add the action additionally to the service

What is missing is the following:

However, I could think of a slow transition, adding the new capability in Kinetic and loading both the old and new capability in newly created move_config packages (needs an adaption in setup assistant). In some later release we could remove the old service capability, hoping that meanwhile everybody has adapted their move configs.

If you could work along this direction, that would be indeed great. Consider merging your implementation and mine from new-traj-exec-action. I provide feedback about the finished trajectory segment.

[wkentaro]

Consider merging your implementation and mine from new-traj-exec-action. I provide feedback about the finished trajectory segment.

Ok, I will do this tomorrow.

[v4hn]

What's the state of this request?

[rhaschke]

I handed over to @wkentaro. Did you have time to work on it?

[wkentaro]

@v4hn @rhaschke Sorry for late reply. I tried to merge the implementation in new-traje-action branch, and I think I've done. Could you please review?

[v4hn]

@wkentaro Could you port this request to https://github.com/ros-planning/moveit ? We are not going to merge anything into this repository anymore.

[wkentaro]

Oh, moveit is being consolidated! Alright, I will do it.

[v4hn]

On Tue, Aug 09, 2016 at 11:49:04PM -0700, Kentaro Wada wrote:

Oh, moveit is being consolidated!

has been :)

[wkentaro]

Ported this PR to https://github.com/ros-planning/moveit/pull/60.