Add .action file for execution trajectory in a ROS action

[wkentaro]

For moveit/moveit_ros#719
Being moved from #24

[v4hn]

-1 on the name.
I agree with @davetcoleman's comment.
Please rename the action to "ExecutePath.action".

[wkentaro]

Fixed.

[davetcoleman]

could you explain "trace" better... in what cases would it differ from the input trajectory and at what discretization level are you expecting this returned trajectory to be at?

[wkentaro]

@davetcoleman
It seems that the two results are not necessary.
So I removed them in the last commit.

[davetcoleman]

I'm not sure if they are useful or not, but it wasn't obvious to me what they would be used for. Seeing how the old ExecuteKnownTrajectory.srv doesn't have anything similar, it makes sense to not have them

[wkentaro]

I agree. I think the results can be added afterward when it is required.

[davetcoleman]

cherry-picked to J

[wkentaro]

Thanks!

[rhaschke]

Please rename the action to ExecutePath.action.

Hm. Even better would have been ExecuteTrajectory.action. All other stuff related to joint-space trajectories is called like this. Also, a RobotTrajectory is passed in the message.
Looks like path is usually used in the context of Cartesian trajectories.

@v4hn @davetcoleman: What do you think?

Should we also rename the existing ExecuteKnownTrajectory.srv to ExecuteTrajectory.srv for unification?

[davetcoleman]

I see your point, trajectory makes more sense than path. +1

I don't see nearly enough advantage to change the long existing service
name though.

On Aug 19, 2016 12:45 PM, "Robert Haschke" notifications@github.com wrote:

Please rename the action to ExecutePath.action.

Hm. Even better would have been ExecuteTrajectory.action. All other stuff
related to joint-space trajectories is called like this. Also, a
RobotTrajectory is passed in the message...

@v4hn https://github.com/v4hn @davetcoleman
https://github.com/davetcoleman: What do you think?

Should we also rename the existing ExecuteKnownTrajectory.srv to
ExecuteTrajectory.srv for unification?

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[130s]

Are we going to make a change discussed after this PR was merged any sooner?
I like to fix c5c4c61#commitcomment-18705574 and make a release asap (within a day or so), so it'd be great if both changes can be released together.

[rhaschke]

@130s Name fixed with #27.