Add move pose and fix launchfile

[toliver]

Added move_pose, as the move_position doesn't impose restrictions on the orientation and that can be dangerous.

Tested with simulated robot, and it works, but not very well due to planning failures. Comments about this on slack.

[landscape-bot]

Repository health decreased by 0.40% when pulling f606ed4 on F_add_move_pose into 781fecf on indigo-devel.

• 6 new problems were found (including 1 error and 1 code smell).
• No problems were fixed.

[ugocupcic]

@toliver can you fix the landcape problems then I'll merge

[landscape-bot]

Repository health decreased by 0.31% when pulling 1090ce6 on F_add_move_pose into afb56f6 on indigo-devel.

• 2 new problems were found (including 2 errors and 0 code smells).
• No problems were fixed.

[landscape-bot]

Repository health decreased by 0.31% when pulling 1090ce6 on F_add_move_pose into afb56f6 on indigo-devel.

• 2 new problems were found (including 2 errors and 0 code smells).
• No problems were fixed.

[landscape-bot]

Code quality remained the same when pulling 8ea8439 on shadow-robot:F_add_move_pose into afb56f6 on shadow-robot:indigo-devel.