[cob_cartesian_controller] Re-work/fix cob_cartesian_controller

[fmessmer]

ToDo's:

• review, verify and re-structure profile_generator library (unification of sinoid/ramp for linear/circular, use design pattern) Finalized cob_cartesian_controller #74
• better Action interface for cob_cartesian_controller (e.g. separate MoveLin and MoveCirc actions?) [cob_cartesian_controller] Re-work ActionInterface and abortian criteria #75
• more Cartesian trajectories (e.g. 3-point MoveCirc) [cob_cartesian_controller] Additional Cartesian motion primitives/actions #69
• more Cartesian trajectories (e.g. list of waypoints) [cob_cartesian_controller] Additional Cartesian motion primitives/actions #69
• trajectory blending [cob_cartesian_controller] Additional Cartesian motion primitives/actions #69
• finalize/unify Python interface (simple_cartesian_interface) [cob_cartesian_controller] Re-work ActionInterface and abortian criteria #75
• How can we guarantee that the end-effector is at the correct starting pose for a given Cartesian motion?
• use Action interface of cob_frame_tracker rather than Service interface [cob_cartesian_controller] Re-work ActionInterface and abortian criteria #75
• rework/improve safety-/abortion-/hold_twist criteria (remove from cob_cartesian_controller, improve in cob_frame_tracker) [cob_cartesian_controller] Re-work ActionInterface and abortian criteria #75
• limit twists (either outgoing provided cob_frame_tracker or incoming into cob_twist_controller
• finally roslint the package (http://wiki.ros.org/roslint) Finalized cob_cartesian_controller #74

together with @ipa-fxm-cm

[MaChristoph]

-Restructured profile_generator with factory builder approach
-Matrix sort not longer necessary
-Implemented a method to achieve equal array sizes (Adjust array length function only used in a special case. (Check out the code comment) )
-Combined several functionalities and simplified the code structure
-Might fixed the "Square box is not really a Box" problem ( Can be checked after the ToDo from below is fixed)

ToDo:
-There's still a bug in the optimized trajectory interpolation ( Path too short for a given velocity and acceleration )

[fmessmer]

I extracted everything related to additional/new Cartesian motion primitives to a new issue https://github.com/ipa320/cob_control/issues/69.

[fmessmer]

Current progress is reviewed in fmessmer#9

[fmessmer]

I extracted everything related to re-working the action interfaces and abortion criteria to a new issue #75.

[fmessmer]

Fixed in #74 (after the latest changes from my test_new_cartesian_controller branch have been merged!)

All the other open bullets are minor, mostly done, not relevant anymore or to be marked as wontfix.

[MaChristoph]

How can we guarantee that the end-effector is at the correct starting pose for a given Cartesian motion?

• move_lin: It is using the current starting position of the EE, therefore it is always in its starting position for the linear motion.
• move_circ: Maybe we can use a linear motion from the current pose to the starting pose of move_circ motion. Another possibility is to use move it! to reach the starting position with a "PTP" motion.

[fmessmer]

Most is done in #74, few has been separated into #69 and #75, rest is WONTFIX or FIXONUSAGE...
👉 closing!