Integrate components into working demo of arm following v-rep simulation

[ahundt]

Our current v-rep simulation demonstrates the arm cutting the ball joint from a bone and then milling the inside. To complete this issue we should demonstrate the real physical KUKA imitating the motion that is shown in the simulation.

Sub-issues include #11 #12 #15

Java

@astrick3 is responsible for this part
First complete sub-issue #12.

• Implement integrated program
  • initializes FRI mode
  • reads goal points from the c++ plugin
  • commands the arm to move to that position (possibly with smartservo)?
• Test pure Java program purely with c++ test software
• Test Java Sunrise application program deployed on controller with c++ test software

C++

@ShahriarSefati steps:
First complete sub-issue #15

• set up v-rep plugin
• slow down speed of robone simulation motion to a realistic speed

@athundt Steps

• add zeroMQ and FRI drivers to plugin
• Test plugin independently of FRI
  • Feed fake data to FRI

Integration Testing

• Deploy Java application to controller
• Put arm in Automatic mode
• Connect Laptop with 2 ethernet ports
  • KONI ethernet port
    • Robot IP Address:
    • Laptop IP address:
  • Sunrise programming ethernet port

[ahundt]

This issue was moved to ahundt/grl#49