in move_arm_client_node.cpp: Uses hardcoded string for the move_arm_action service, now it needs to be remapped on the launch file, in mtconnect_arm_navigation.launch: remaps service action name in order to call the move_manipulator action service implemented by M16iB20_move_manipulator node
In move_arm_client_node.cpp: prints the list of the links in arm collision model object,TODO: This node will need to have the capability of taking a cartesian defined in an arbitrary coordinate frame and perform the corresponding transformations before it sends it to the move arm action server
in move_arm_client_node.cpp: gets arm base and tip link names from the 'robot_description parameterinstead of the cartesian trajectory."
in mtconnect_arm_navigation.launch: rearranged and added descriptions to each block of launch statements
in move_arm_client_node.cpp: it accepts trajectories defined for an arbitrary tool frame and converts it to arm space (tip_link relative to base_link"
in trajectory_definitions.yaml: defines trajectory for link 'tool0' rather than the arm's tip link 'Link_6'
added launch and configuration files for mtconnect_arm_navigation