GSoC: Jog Arm ROS2 Port

[AdamPettinger]

Hello! I'm working on the Google Summer of Code project to port moveit_jog_arm to ROS2 with @AndyZe and @tylerjw as my mentors.

Some GSoC Links:

• ROS Discourse initial posting
• GSoC Proposal

The main goals of the project are to

1. Port the jogger to ROS2
2. Make general improvements to it
3. Overhaul the testing and user examples/tutorials

Project Details

We decided to make regular PR's to the master branch instead of use a feature branch. I will use this issue to link to and track all of the PR's, as well as maintain discussion about the project as a whole

1. See [jog_arm] Changes before porting to ROS2 moveit#2151 for the latest changes in ROS1 before moving the jogger to ROS2
2. [jog_arm] Move and rename to moveit_ros/moveit_servo moveit#2165 Moving moveit_jog_arm from moveit_experimental to moveit_ros and renaming it moveit_servo in ROS1, and was since synced with moveit2
3. [Servo] Port moveit_servo to ROS2 #248 Is the main PR for porting moveit_servo
4. [fix] threading issues in PSM and servo #257 and [Servo] Fixes to Servo tests/demos #258 are follow-ups for fixing the tests
5. [Servo] Update last_sent_command_ at ServoCalcs start moveit#2249 backports some of the ROS2 changes and fixes to ROS1

[AdamPettinger]

My summer here is coming to a close, thanks @AndyZe and @tylerjw for being awesome mentors, and also thanks @henningkayser for all of your help as well!