Feat/movegroups

[MKerner3]

Description

This PR does the following:

• Adds move group planning to the arm for trajectory execution
• Adds a demo file to test path planning and execution within rviz
• Allows the robot to be configured with the move group c++ interface

Fixes #111

Testing Steps

Test Case 1

1. cd to your rover colcon
2. colcon build
3. . install/setup.bash
4. ros2 launch urc_arm_moveit_config demo.launch.py

Expectation: The robot arm loaded in rviz, with the ability to move it around and execute path plans.

Design Doc

Link to Design Doc

Self Checklist

• I have formatted my code using ament_uncrustify --reformat
• I have tested that the new behavior works

[harrislegobrick]

Writing this down as it may be exclusive to my setup but is still worth writing down.

The moveit_ros_move_group fails to run when launching the demo file. This is fixed by manually running the node in a new terminal with ros2 run moveit_ros_move_group movegroup ... with the ... being specific launch parameters based on tmp files. The tmp file specifics are displayed in the terminal when running the demo file as an error.

[davidcalderon03]

GigaChad