[Indigo] Restructure and cleanup

[fmessmer]

It's currently not possible to find a clean structure for the launch and parameter files that set up all robots (cob3-6, cob3-9, cob4-1, cob4-2, cob4-6) in both real hardware and simulation with the new namespace layout under indigo!

We will need to review this

• after the new base controller plugins are finalized
• the cob3-X robots hardware is set up for indigo

@ipa-fmw @ipa-nhg @ipa-mig @ipa-mdl

[fmessmer]

I started to use the new namespace structure for cob3-6 in simulation
cob_common/cob3-updates
schunk_modular_robotics/cob3-updates
cob_robots/cob3-6_updates

It's not yet finished.....this is just to let you know about it.....will be finalized and synchronized with indigo hardware for cob3's before a PullRequest to ipa320 is sent...

[floweisshardt]

still need to fix launch files for schunk_sdh, cob_trajectory_controller and head_axis namespaces in cob_bringup launch files

see ipa320/schunk_modular_robotics#131, ipa320/schunk_modular_robotics#130, https://github.com/ipa320/cob_driver/issues/208, https://github.com/ipa320/cob_control/issues/26

[fmessmer]

more restructuring done in #278 #279 #282

adaptions to schunk_powercube_chain, schunk_sdh, cob_trajectory_controller and cob_head_axis done in:

• [Indigo] Indigo hardware updates schunk_modular_robotics#132
• https://github.com/ipa320/cob_driver/pull/210
• https://github.com/ipa320/cob_control/pull/27

[fmessmer]

I guess most of the restructuring is done and merged...
It performs well on cob4 and simulation....
However, there still seems to be some mismatches on cob3's (see https://github.com/ipa320/cob_command_tools/issues/93)

[fmessmer]

@ipa-nhg @ipa-fmw
now that #303 has been merged should we adjust cob3-6 and cob3-9 for indigo accordingly, i.e. bringup launch file and configs?

[fmessmer]

#314 probably fixes it in a satisfactory way for now....