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Add MoveIt Servo Tutorial#688

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tahsinkose wants to merge 10 commits intoros-industrial:noetic-develros-industrial/universal_robot:noetic-develfrom tahsinkose:tahsin/add-moveit-servo-tutorialtahsinkose/universal_robot:tahsin/add-moveit-servo-tutorialCopy head branch name to clipboard

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Commits on Nov 2, 2024

• Run controller spawner nodes only when their arguments are non-empty.

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• Create UR5 MoveIt tutorial package with servo example.

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• Use moveit_commander to retrieve active joint names and end-effector.

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• Use JointTrajectoryController for servo and MoveIt trajectory execution to work together.

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• Move common moveit_servo stuff to separate launch file.

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• Create launch file for joint_group_pos_controller based moveit servo.

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• Specify only the diff controller.

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• Specify joint_group_vel_controller for UR5 to experiment in SIM.

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• Remove duplicate params and create launch file for joint_group_vel_controller based MoveIt servo.

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Commits on Nov 3, 2024

• Add a launch file that supports joy control.

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