Moveit controller

[Jelmerdw]

This PR adds:

• A Moveit controller as an Action service. This enables the code-wise use of Moveit using action calls, with a PoseStamped message as input.
• A Rviz controller as Service. This enables spawning and clearing of markers in Rviz. More features can be added in the future.
• A separate package (rcdt_utiltities_msgs) for custom message used by different nodes in the rcdt_utilities package.

How to use/test?

One can test these new features (in combination with this PR in rcdt_franka) by running:

ros2 launch rcdt_franka franka.launch.py moveit:=node rviz:=True

By selecting the new option node for the moveit flag, the moveit_controller node will be started. One can move the robot using an Action call, for example:

ros2 action send_goal --feedback /moveit_controller rcdt_utilities_msgs/action/Moveit "{goal_pose: {header: {frame_id: fr3_link0}, pose: {position: {x: 0.28, y: 0.2, z: 0.5}, orientation: {x: 1.0, y: 0.0, z: 0.0, w: 0.0}}}}"

Currently, the Action will also publish a marker in Rviz for the goal_pose, if the new rviz_controller node is running. This node needs to be started manually:

ros2 run rcdt_utilities rviz_controller_node

If this node is not started, the moveit Action service should still work, but show a warning that publish of the Rviz marker is not possible.

Real robot:

This is also tested on the new robot. A better specification of acceleration limits was required. For more info, see the related PR for rcdt_franka:

alliander-opensource/rcdt_franka#7

[WPDOrdina]

Heel mooi werk, een paar opmerkingen.

Nog een extra: momenteel moet er een extra node handmatig op worden gestart om de target te zien in rviz. Het zou fijn zijn als die automatisch mee wordt gelanceerd als rviz zelf ook gelanceerd wordt. Waarom heb je ervoor gekozen dat niet te doen?