On-the-fly point streaming and Cartesian jog

[boneil]

I have implemented on-the-fly point streaming to the controller via the joint_command topic. The approach very closely emulates the way that trajectories are currently sent to the controller. I have also included a Cartesian jogging package that uses this new functionality. There is a rogue source file called keyboard_teleop_node.cpp that is not part of any package. It is example code that does Cartesian jogging from the keyboard.

Some code might be rough around the edges with extraneous comments and the like, but I thought I'd offer it up to anyone who might be able to use it.

[shaun-edwards]

I pulled these changes into a ros-industrial branch (boneil_point_streaming) just in case @boneil makes changes to hydro-devel. I'm going to keep this pull request open because I want to review this for inclusion in the Indigo release.

[shaun-edwards]

BTW...Thanks @boneil for the contribution. I'm going to try it out on our motoman just as soon as I get a chance.

[boneil]

No problem Shaun. Please let me know if I can provide any support or clean things up a bit.

[cinatale]

Dear Shaun,

when do you plan to include in the Indigo release this new and useful feature?

Thanks,
C.

[jim-rees]

I've updated the streaming part (not including the cartesian jogging) and created new pull request #88.

[shaun-edwards]

#88 updates this PR for indigo, closing

[gavanderhoorn]

@shaun-edwards: note the comment by @jim-rees:

(not including the cartesian jogging)

[shaun-edwards]

I missed that...reopening for now.

[cinatale]

Sorry, but we don’t use the jogging node, just the point streaming interface, that seems to work properly.