Add simulation motion generators #224
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This commit gives users the ability to set the hardware_interface that is used in the panda arm joints when loading the 'panda_arm.urdf.xacro' file.
Automatically translate into full name, e.g. hardware_interface/PositionJointInterface
This commit fixes a unhandeled conflict that is created when both frankaemika#181 and frankaemika#157 are merged.
This commit adds the 'hardware_interface/PositionJointInterface' and 'hardware_interface/VelocityJointInterface' interfaces to the FrankaHWSim module. When a user chooses these interfaces, motion generators (i.e. PID controllers) are used for controlling the robot.
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This commit combines #181 and #157 since they are closely related. I tested this pull request against the steps I explained in #181 (comment). The position controllers seem to work, although as described in #181, the PID gains for the motion generators are not extensively tuned and could therefore be improved.