Add motion planning actions and services for iiwa robot

- Implemented action servers for MoveToPose and MoveToJoints.
- Added service for MoveToNamedPose and stop action.
- Updated README with usage examples for new actions.
- Enhanced planning configurations in YAML and Python files.
- Removed deprecated motion planning scripts.

src/iiwa_config/config/moveit/kinematics.yaml

@@ -1,4 +1,5 @@
 iiwa_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
-  kinematics_solver_search_resolution: 0.0050000000000000001
-  kinematics_solver_timeout: 0.0050000000000000001
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3

src/iiwa_config/config/moveit/moveit_cpp.yaml

@@ -25,7 +25,7 @@ ompl_rrtc:  # Namespace for individual plan request
     max_acceleration_scaling_factor: 1.0  # Acceleration scaling parameter for the trajectory generation algorithm that is called (if configured) after the path planning
     planning_time: 1.0  # Time budget for the motion plan request. If the planning problem cannot be solved within this time, an empty solution with error code is returned
 
-pilz_lin:
+pilz_ptp:
   plan_request_params:
     planning_attempts: 1
     planning_pipeline: pilz_industrial_motion_planner
@@ -34,6 +34,15 @@ pilz_lin:
     max_acceleration_scaling_factor: 1.0
     planning_time: 0.8
 
+pilz_lin:
+  plan_request_params:
+    planning_attempts: 1
+    planning_pipeline: pilz_industrial_motion_planner
+    planner_id: "LIN"
+    max_velocity_scaling_factor: 1.0
+    max_acceleration_scaling_factor: 1.0
+    planning_time: 0.8
+
 chomp_planner:
   plan_request_params:
     planning_attempts: 1

src/iiwa_config/config/setting.yaml

@@ -33,6 +33,13 @@ controller:
     moveit_cpp: pkg://iiwa_config/config/moveit/moveit_cpp.yaml
 
 
+planning:
+  pose_link: "link_ee"        # TCP-линк для декартовых целей
+  planning_group: "iiwa_arm"  # Группа планирования из SRDF
+  default_frame: "base_link"  # Система отсчёта по умолчанию
+  default_planner: "ompl"     # Планировщик по умолчанию
+  planning_attempts: 3        # Число попыток планирования
+
 foxglove:
   enabled: true  # Запускать ли foxglove_bridge вместе с роботом
   port: 8765 # WebSocket-порт, к которому подключается Foxglove Studio (по умолчанию 8765)