Motion module of FollowJointTrajectoryAction server #57
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…e to send command via FollowJointTrajectoryAction.
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Implemented motion module which is action server of FollowJointTrajectoryAction. Some parts such as minjerk interpolation are same with op3_direct_control_module.
New op3_joint_trajectory_control_module is using actionlib, so more advanced processing such as interruption and waiting for finishing are available. Also, you can set the transition time although it was fixed in op3_direct_control_module.
Now only single point trajectory is supported.
I confirmed that this module works well with this branch of op2_manager package and real Darwin OP2 robot and actionlib client implemented in our software platform.