Update for moveit PR moveit#1724: Jog Arm Dimensions (moveit#433)

* Update for moveit PR moveit#1724: Jog Arm Dimensions

See more here: moveit/moveit#1724

* Fix dumb copy-paste formatting error

doc/arm_jogging/arm_jogging_tutorial.rst

@@ -76,6 +76,10 @@ Settings
 --------
 User-configurable settings of the jog node are well-documented in ``jog_arm/config/ur_simulated_config.yaml``.
 
+Changing Control Dimensions
+---------------------------
+The dimensions jogging is allowed in may be changed with the ``change_control_dimensions`` (``moveit_msgs/ChangeControlDimensions``) service. The service consists of the 6 booleans representing the manipulator's degrees of freedom (3 translation and 3 rotation), defined in the input velocity command frame. Setting one of these booleans to ``false`` will result in the user input in that direction being overwritten with a 0, thus disallowing motion in the direction. 
+
 Robot Requirements
 ------------------
 The jogger streams an array of position or velocity commands to the robot controller. This is compatible with ros\_control ``position_controllers/JointGroupPositionControllers`` or ``velocity_controllers/JointGroupVelocityControllers``. You can check if these controllers are available for your robot by searching for the controller config file (typically named ``controllers.yaml``). After launching the robot, you can check if any ros_control controllers are available with: ::
@@ -106,6 +110,8 @@ An `rqt_graph` of the jogger is shown below (Enlarge by clicking it). Most of th
 
 - **joint_group_position_controller/command** topic: This is the outgoing command that causes the robot to move.
 
+- **change_control_dimensions** service: This is the service offered to change which dimensions jogging is allowed in
+
 .. image:: jogging_rqt_graph.png
    :width: 700px