Add .action file for execution trajectory in a ROS action

CMakeLists.txt

@@ -77,6 +77,7 @@ DeleteRobotStateFromWarehouse.srv
 )
 
 set(ACT_FILES
+ExecuteKnownTrajectory.action
 MoveGroup.action
 Pickup.action
 Place.action

action/ExecuteKnownTrajectory.action

@@ -0,0 +1,18 @@
+# The trajectory to execute
+RobotTrajectory trajectory
+
+---
+
+# Error code - encodes the overall reason for failure
+MoveItErrorCodes error_code
+
+# The full starting state of the robot at the start of the trajectory
+moveit_msgs/RobotState trajectory_start
+
+# The trace of the trajectory recorded during execution
+moveit_msgs/RobotTrajectory executed_trajectory
+
+---
+
+# The internal state that the move group action currently is in
+string state