Requirements for panda_moveit_config release

[rhaschke]

The new release of https://github.com/ros-planning/panda_moveit_config is blocked by a few things in franka_ros:

• Provide detailed and coarse collision models #199
• Cosmetic changes to xacro and launch files #183
• CHANGE: Remove namespace from franka_gazebo launch file #196
• Define finger_joint2 as mimic joint of finger_joint1 #190
  Covered by Provide detailed and coarse collision models #199
• Add a JointTrajectoryController config #186 -> e899240
• Define meaningful tool frame #194
• Fixes franka_gripper_sim GripperCommand action #173

I have merged these (and the first item from the nice-to-have list) into #188 for convenience.

Nice to have

• Drop re-publishing of joint_states_desired #191
• Allow to use different hardware transmissions in Gazebo: 2514ae1

Optional

• Remap joint states instead of re-publish #192

Open issues

• GripperCommand doesn't signal convergence (but movements are correctly executed, see #173)
  • MoveIt controller manager fails with: Controller is taking too long to execute trajectory
  • /franka_gripper/gripper_action/status reports:
    Unexpected state transistion: The gripper not in HOLDING as expected
• [bug] Pull request #147 breaks gripper_action actions #179
• [bug] Gazebo gripper control is broken #172

[rickstaa]

@rhaschke Thanks for collecting all our issues into an overview. One small suggestion can you change

GripperCommand doesn't signal convergence (but movements are correctly executed)

to

GripperCommand doesn't signal convergence (but movements are correctly executed) (see #173)

The problem is explained in detail in that pull request. Further, another related issue that should be mentioned is that #146, which was merged to the devel branch, broke the gripper actions (see #179).

[gollth]

For the record, @rhaschke shall we change PR #173 to Issue #172 on the checklist? (as discussed here)

[rickstaa]

A few things block the new release of https://github.com/ros-planning/panda_moveit_configrankaemika/franka_ros/pull/191)

• Allow to use different hardware transmissions in Gazebo than the default effort transmission

  • Adds the 'transmission' arg to the 'panda_arm.urdf.xacro' file #157
  • Adds position and velocity motion generators to FrankaHWSim #181

@rhaschke Just for tracking purposes. The motion generators have been implemented in 2514ae1.