Initial exercise 1

[stephanie-eng]

Depends on #4 for hot dog assets. Does not include a gripper.

To build:

cd exercise1
colcon build

Initial work for exercise 1:

Exercise 1-1

• Covers basic move_group usage to put a hot dog into a bun
• Attendees will learn how to set a pose goal and plan to it
• Attendees will learn about collision objects, attaching them, and detaching them
• Will use RRT which will likely generate a rather loopy plan, motivating exercise 1-2

To run:

ros2 launch exercise1-1 ur.launch.py
ros2 launch exercise1-1 exercise1-1.launch.py

Exercise 1-2

• Covers Cartesian planning to apply mustard on a hot dog
• Users will learn about Cartesian planning, how to configure it, and why it's useful

ros2 launch exercise1-2 ur.launch.py
ros2 launch exercise1-2 exercise1-1.launch.py

There is still more work to be done, but this PR is getting big and I think this gets the point across.

Some TODOs for later:

• Consider adding a gripper
• Consider discussing the allowed collision matrix?
• Split out the solution into a separate folder
• Add README
• Add custom RViz config
• Consider creating exercise1-common package to host robot launch file + RViz config

[stephanie-eng]

Merging for expediency. We can have a larger review session later.

[stephanie-eng]

Merging for expediency. We can have a larger review session later.