Moveit package template

[Nibanovic]

Moveit config template

Work in progress for a setup-moveit-package functionality. Template will first be set up for rolling, later easily adapted to humble The package will be designed so that first robot_name_bringup robot_name.launch.xml is run, and then robot_name_moveit moveit.launch.xml.

file structure:

for a robot named robot_name:

robot_name_moveit/
	config/
		ompl_planning.yaml
		moveit_controllers.yaml
		… or whatever structure we decide on
	launch/
		moveit.launch.xml
		moveit.launch.py
	srdf/
		robot_name_macro.srdf.xacro
		robot_name.srdf.xacro
	rviz/
		moveit.rviz

milestones

• [x] set up moveit package to work with default desctiption and bringup packages generated from RTW
• added the temporary workspace myrobot_ws to repository for easier collaboration on the templates
• [x] finished configuration file structure
• [x] add setup-robot-moveit.bash script
• [x] replace robot and package names with variables from script
• [x] set up launch.xml to do the same as launch.py
• [x] update append_to_README to describe robot_name_moveit package usage

[joseriyancyriac]

There is an issue with parsing the robot_macro.srdf.xacro and robot.srdf.xacro files because of the license header.

<?xml version="1.0" encoding="UTF-8"?> being the first line of the document fixes this issue.

[mergify[bot]]

This pull request is in conflict. Could you fix it @Nibanovic?