Add service to set scan poses

[asierfernandez]

Adds a service to choose different scan poses. If no service is called, scan poses calculated based on some parameters stored in parameter server. This process is not dynamic, so I added a service to include an option to set desired scan poses. For trajectory generation between poses, the same method has been kept.

[hectorherrero]

Tested providing 2 valid poses:

rosservice call /surface_blending_service/set_scan_poses "poses: header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' poses:

• position: x: 0.60 y: 0.0 z: 0.60 orientation: x: 0.0 y: 0.706825 z: 0.0 w: 0.707388
• position: x: 0.596099 y: 0.0623374 z: 0.6 orientation: x: -0.0441478 y: 0.705445 z: 0.044183 w: 0.706007 "

If invalid poses are given the scan process fails and waits until valid poses are provided.

Simply as a comment, generating valid quaternions by hand is complicated, I suppose the poses will be generated from another source or tool, right?

[asierfernandez]

Still need to be defined how scan poses will be generated. There are different options, a node could provide such service, poses could be defined within a yaml file, the state itself could compute some aleatory scan poses...

I don't know if there is any requirement for scan poses