Add move_to_pose_server and iiwa_msgs package with service definition

- Implement move_to_pose_server for motion planning using MoveIt
- Create iiwa_msgs package with MoveToPose service definition
- Update iiwa.launch.py to include move_to_pose_server node
- Modify joint_limits.yaml to add position limits for joints
- Remove iiwa_voice package and related files

src/iiwa_config/config/moveit/iiwa7.srdf

@@ -10,7 +10,7 @@
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
     <group name="iiwa_arm">
-        <joint name="world_base_joint"/>
+        <!-- <joint name="world_base_joint"/>
         <joint name="joint1"/>
         <joint name="joint2"/>
         <joint name="joint3"/>
@@ -23,7 +23,8 @@
         <joint name="camera_holder_patron"/>
         <joint name="camera_holder_corner"/>
         <joint name="camera_corner_camera"/>
-        <joint name="camera_hand_to_optical"/>
+        <joint name="camera_hand_to_optical"/> -->
+        <chain base_link="base_link" tip_link="patron"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="home" group="iiwa_arm">

src/iiwa_config/config/moveit/joint_limits.yaml

@@ -9,38 +9,66 @@ default_acceleration_scaling_factor: 0.1
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
   joint1:
+    has_position_limits: true
+    min_position: -2.97
+    max_position: 2.97
     has_velocity_limits: true
     max_velocity: 1.71
     has_acceleration_limits: true
     max_acceleration: 8.5521
+    has_jerk_limits: false
   joint2:
+    has_position_limits: true
+    min_position: -2.09
+    max_position: 2.09
     has_velocity_limits: true
     max_velocity: 1.71
     has_acceleration_limits: true
     max_acceleration: 8.5521
+    has_jerk_limits: false
   joint3:
+    has_position_limits: true
+    min_position: -2.97
+    max_position: 2.97
     has_velocity_limits: true
     max_velocity: 1.75
     has_acceleration_limits: true
     max_acceleration: 8.7266
+    has_jerk_limits: false
   joint4:
+    has_position_limits: true
+    min_position: -2.09
+    max_position: 2.09
     has_velocity_limits: true
     max_velocity: 2.27
     has_acceleration_limits: true
     max_acceleration: 11.3446
+    has_jerk_limits: false
   joint5:
+    has_position_limits: true
+    min_position: -2.97
+    max_position: 2.97
     has_velocity_limits: true
     max_velocity: 2.4399999999999999
     has_acceleration_limits: true
     max_acceleration: 12.2173
+    has_jerk_limits: false
   joint6:
+    has_position_limits: true
+    min_position: -2.09
+    max_position: 2.09
     has_velocity_limits: true
     max_velocity: 3.1400000000000001
     has_acceleration_limits: true
     max_acceleration: 15.7080
+    has_jerk_limits: false
   joint7:
+    has_position_limits: true
+    min_position: -3.05
+    max_position: 3.05
     has_velocity_limits: true
     max_velocity: 3.1400000000000001
     has_acceleration_limits: true
     max_acceleration: 15.7080
+    has_jerk_limits: false