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_planning/scripts/move_to_pose_server.py

@@ -0,0 +1,69 @@
+#!/usr/bin/env python3
+
+import rclpy
+from rclpy.node import Node
+from rclpy.callback_groups import ReentrantCallbackGroup
+from rclpy.executors import MultiThreadedExecutor, ExternalShutdownException
+from moveit.planning import MoveItPy, PlanningComponent
+from iiwa_msgs.srv import MoveToPose
+
+
+POSE_LINK = "link_ee"
+PLANNING_GROUP = "iiwa_arm"
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    # MoveItPy создаёт C++ узел с именем из лонча → читает robot_description_kinematics и т.д.
+    moveit = MoveItPy(node_name="move_to_pose_server")
+    arm: PlanningComponent = moveit.get_planning_component(PLANNING_GROUP)
+
+    # Отдельный лёгкий узел для сервиса — другое имя, нет конфликта параметров
+    node = Node("move_to_pose_service")
+    logger = node.get_logger()
+
+    cb_group = ReentrantCallbackGroup()
+
+    def handle(request: MoveToPose.Request, response: MoveToPose.Response):
+        pose = request.pose
+        if not pose.header.frame_id:
+            pose.header.frame_id = "base_link"
+
+        arm.set_start_state_to_current_state()
+        arm.set_goal_state(pose_stamped_msg=pose, pose_link=POSE_LINK)
+
+        logger.info(
+            f"Planning to ({pose.pose.position.x:.3f}, "
+            f"{pose.pose.position.y:.3f}, {pose.pose.position.z:.3f})"
+        )
+        plan_result = arm.plan()
+
+        if not plan_result:
+            response.success = False
+            response.message = "Planning failed: pose may be unreachable or in collision"
+            logger.error(response.message)
+            return response
+
+        moveit.execute(plan_result.trajectory, controllers=[])
+        response.success = True
+        response.message = "Motion executed successfully"
+        logger.info(response.message)
+        return response
+
+    node.create_service(MoveToPose, "iiwa/move_to_pose", handle, callback_group=cb_group)
+    logger.info(f"MoveToPoseServer ready (pose_link={POSE_LINK})")
+
+    try:
+        executor = MultiThreadedExecutor()
+        executor.add_node(node)
+        executor.spin()
+    except (KeyboardInterrupt, ExternalShutdownException):
+        pass
+    finally:
+        node.destroy_node()
+        rclpy.shutdown()
+
+
+if __name__ == "__main__":
+    main()