Consider action to replace some of the services

[cmower]

There are some services that make more sense as actions.

Services that could potentially be actions:

• move_to_joint_state
• move_to_initial_joint_state
• move_to_eff_state

@joaomoura24 I remember you had looked into actions before, did you implement an action? Would appreciate any input/suggestions - or better, if you had time to re-implement these services as actions?

[joaomoura24]

No I have not implemented any action, so I have no useful feedback for now.

I don't really understand what are these services for, are they commanding the real and simulated robot or are they to update the pybullet state?

[cmower]

• The move_to_joint_state service takes as input a goal joint state configuration and duration. The simulated robot in pybullet is moved from its current configuration to the goal in the specified duration.
• The move_to_initial_joint_state is exactly the same, only the the goal joint configuration is the one specified in the yaml config file (there is currently a small interface issue Fix move to initial state service #149 but that will be fixed soon).
• The move_to_eff_state is similar to the previous two but differs in that rather than providing a goal joint state, you provide a goal end-effector state - the IK is done using pybullet's internal IK routines.

If you start a remapper before calling these services the real robot will move also.