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_msgs/CMakeLists.txt

@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.8)
+project(iiwa_msgs)
+
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "srv/MoveToPose.srv"
+  DEPENDENCIES geometry_msgs
+)
+
+ament_export_dependencies(rosidl_default_runtime)
+ament_package()

src/iiwa_msgs/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>iiwa_msgs</name>
+  <version>0.0.0</version>
+  <description>Custom ROS2 interfaces for KUKA iiwa7</description>
+  <maintainer email="grabardm@ml-dev.ru">daniel</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+
+  <depend>geometry_msgs</depend>
+  <depend>rosidl_default_runtime</depend>
+
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/iiwa_msgs/srv/MoveToPose.srv

@@ -0,0 +1,4 @@
+geometry_msgs/PoseStamped pose
+---
+bool success
+string message