Reenable motion retargeting for REEM

[bit-pirate]

The new pipeline version does not support REEM yet. What we need to implement to support it again:

• Update upper_body_adaption in motion_adaption
• add an output handler, which talks to REEM's joint controller
• add self-collision handler based on MoveIt!
• add a motion retargeting controller for reem

[bit-pirate]

In order to easily test motion retargeting for REEM I suggest to add a fake joint controller, which sets the current joint states based on the incoming joint command. This controller together with the robot state publisher would be enough to do a simple kinematics simulation.

As a first step I have catkinized the reem_common stack to allow visualising the resulting motion for testing: https://github.com/pal-robotics/reem_common/pull/5

[bit-pirate]

Adolfo, which (ROS) controller a you currently using for REEM?

[adolfo-rt]

We have an implementation of the JointTrajectoryActionController. We use the trajectory replacement feature to send commands at up to 10Hz. Not in the Github repo, but we have a simple node that gates the output of teleoperation to the controller, so we can start/stop sending commands without killing the whole teleoperation pipeline.

[bit-pirate]

That's nice. We use the same action interface (FollowJointTrajectoryAction). Hence, we probably can use the same output handler. Furthermore, motion retargeting now offers an easy way to enable/disable the output in runtime. So this extra node you added might be obsolete now.