Teeerry/generate-trajectory

Prepare for generate traj:

topic service action 3 different way have different advantages and disadvantage which we should take care of.

Test(in 3 individual terminal):

1. a simple test for srv

$ roscore

$ rosrun generate_traj traj_server.py

$ rosrun generate_traj traj_client.py 3 4 5

2. a simple test for action

$ roscore

$ rosrun generate_traj simple_action_server.py

$ rosrun generate_traj simple_action_client.py

3. C++ server and Python client

$ roscore

$ rosrun generate_traj traj_action_server

$ rosrun generate_traj traj_action_client.py

4. simulate on the ur5

$ roslaunch plan_and_run demo_setup.launch sim:=true

$ roslaunch generate_traj demo_run.launch

$ rosrun generate_traj traj_action_client.py