Update MoveIt configurations

[gavanderhoorn]

Even though the provided MoveIt configurations are only there for convenience and quick testing of new robot setups (ie: right after unboxing) and are not intended for longer use (as any real application would need a customised MoveIt configuration), they should be up-to-date with the latest MoveIt changes.

This includes planner configurations, parameter and launch file names and structure of the package.

Rerunning the MSA and regenerating the packages would be a good first step, but care must be taken to not accidentaly override important configuration or remove settings that are needed for the correct functioning of MoveIt and UR robots.

[gavanderhoorn]

Related: #431.

[jacknlliu]

@gavanderhoorn just do it, please!

[gavanderhoorn]

@jacknlliu: these issues were added in preparation for World ROS-I Day 2019.

Note the support level: community in the readme of this repository.

If you participate, perhaps you could even do it!

[jeritgeorge]

I can work on this

[gavanderhoorn]

@jeritgeorge: nice.

Please first investigate the current layout of the package. There are a few non-standard things that the UR moveit packages have.

It might be insightful to generate a completely new MoveIt configuration in a separate location and then comparing that to the current ones.

[gavanderhoorn]

Did you make any progress here @jeritgeorge?

[jeritgeorge]

Yes, I've reran the MSA for the ur3 config and went through and compared it to the current one. I think I have a decent understanding of the current setup and should at least have the ur3 config done either tonight or tomorrow. I think once one is done, the rest should be relatively simple.

[gavanderhoorn]

I'm going to unassign this @jeritgeorge.

You're welcome to keep working on it of course.

[fmauch]

I'l mark this closed, as #538 is merged.