doc: add tutorial on configuration of driver for single group setups

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)

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Open gavanderhoorn opened 6 years ago

gavanderhoorn commented 6 years ago

There is a (minimal) tutorial on setting up dual-arm robots (here), but there is no corresponding one for regular single group configurations.

The existing support and MoveIt packages are also not straightforward to use as examples.

gavanderhoorn commented 6 years ago

Content suggestions:

creating a robot support package (can be skipped if using any of the existing ones)
creating a 'joint names' config file
creating a MoveIt configuration
updating the MoveIt configuration to work with the driver:
- configuring the controllers
- making sure either controller_joint_names or topic_list is set correctly

gavanderhoorn commented 6 years ago