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_msgs/CMakeLists.txt

@@ -4,10 +4,14 @@ project(iiwa_msgs)
 find_package(ament_cmake REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(geometry_msgs REQUIRED)
+find_package(action_msgs REQUIRED)
 
 rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/MoveToPose.srv"
-  DEPENDENCIES geometry_msgs
+  "srv/MoveToNamedPose.srv"
+  "action/MoveToPose.action"
+  "action/MoveToJoints.action"
+  DEPENDENCIES geometry_msgs action_msgs
 )
 
 ament_export_dependencies(rosidl_default_runtime)

src/iiwa_msgs/action/MoveToJoints.action

@@ -0,0 +1,11 @@
+# Goal — 7 joint positions in radians
+float64[7] joints
+# Velocity scaling 0.0–1.0
+float32 speed
+---
+# Result
+bool success
+string message
+---
+# Feedback
+string state  # "planning" | "executing"

src/iiwa_msgs/action/MoveToPose.action

@@ -0,0 +1,21 @@
+# Goal
+float64 x
+float64 y
+float64 z
+# ZYX Euler in radians (A=yaw, B=pitch, C=roll — KUKA ABC convention)
+float64 a
+float64 b
+float64 c
+# Velocity scaling 0.0–1.0
+float32 speed
+# Planner: ompl | ptp | lin | circ | chomp (default: ompl)
+string planner
+# Reference frame (default: base_link)
+string frame_id
+---
+# Result
+bool success
+string message
+---
+# Feedback
+string state  # "planning" | "executing"

src/iiwa_msgs/package.xml

@@ -11,6 +11,7 @@
   <buildtool_depend>rosidl_default_generators</buildtool_depend>
 
   <depend>geometry_msgs</depend>
+  <depend>action_msgs</depend>
   <depend>rosidl_default_runtime</depend>
 
   <member_of_group>rosidl_interface_packages</member_of_group>

src/iiwa_msgs/srv/MoveToNamedPose.srv

@@ -0,0 +1,7 @@
+# Named state from SRDF (e.g. "home", "work")
+string name
+# Velocity scaling 0.0–1.0
+float32 speed
+---
+bool success
+string message

src/iiwa_msgs/srv/MoveToPose.srv

@@ -1,4 +1,17 @@
-geometry_msgs/PoseStamped pose
+# Position in metres
+float64 x
+float64 y
+float64 z
+# Orientation as ZYX Euler angles in degrees (KUKA ABC convention: A=yaw, B=pitch, C=roll)
+float64 a
+float64 b
+float64 c
+# Velocity scaling factor 0–100 (%)
+float32 speed
+# Planner: "ompl" | "ptp" | "lin" | "chomp" (default: "ompl")
+string planner
+# Reference frame, defaults to "base_link" if empty
+string frame_id
 ---
 bool success
 string message