service to enable/disable octomap monitor

[jsupratman13]

Summary

ROS service that enable/disable octomap monitor. The feature also have a workaround regarding the slow planning time that was address in this issue.

Detail

• octomapの一時停止を可能にするROSサービスを作成
  • octomapを一時停止: rosservice call /set_octomap_monitor "data: false"
  • octomapを再開: rosservice call /set_octomap_monitor "data: true"
• issueの軌道計画が時間かかる問題も考慮
  • octomapの一時停止状態でoctomapクリアサービスを呼びだす時の処理を追加

Test

• [x] cuboidくん

[jsupratman13]

sbgisen/cube_arm_ros#76 でoctomap機能をmoveit外で管理するためこのpull requestを閉じます