Add ability to specify how many times a set of tool paths on the mesh should be executed

[robinsonmm]

Currently when we apply tool paths, either on full mesh or a sub-region, the motion plan is only executed once. It is desired to be able to add an option to repeat the process paths (i.e. the cartesian work paths, grinding, sanding painting) multiple times. This could be in the tool path modifier field as Number of times to repeat process paths, and the user can enter a whole number up to a limit, say 12. This is useful for heavy grinding applications where it by default has to happen more than once to do reasonable work.

[marip8]

I think we'll tackle this by modifying the motion planning server to plan an additional motion from the end of the process back to the start. This trajectory will be exposed in the planning service definition. Then we can update the application-specific BT to execute the following motions:

• approach
• for n times
  • process
  • process end to process start
• reverse approach

The facilitate the n process executions, we'll need to add an entry to the blackboard with the value of n. Then we'll need to modify the BT to add a for loop that references this variable in the process motion sub-tree