Tutorial for multiple robot arms with MoveIt (#708)

* add pkg config files

* include multiple arms tutorial

* add multiple arms tutorial images

* include required steps for multiple arms tutorial

* update step one explanation

* resize intro image

* update step 2

* update step 3

* fix a typo

* Include gazebo arg in arms xacro

* Update after using gazebo-ready xacro

* Include arms ready poses fig

* Update joints hw interface and controllers

* Add world link and base inertia

* Separate joint state and trajectory controllers

* update step three

* embed video

* Remove emeding and add a YouTube video link

* Remove lengthy xacro file and add a link to it

* Explain xacro loading practice

* Format steps to test xacro

* Update check_urdf output

* Configure ros controllers and moveit controllers

* Update the video link and description

* Explain the integration components

* Start step five to plan motions for arms/hands

* Add the motion planning step

* Fix typos

* Minimal fixes for the content

* Fix plugin name

* Fix language errors

* Fix faulty files paths

* Correct file names

* Remove unneeded comments

* Correct controllers config files format

* Explicitly instruct to copy xacro file content

* Revise step 1

* Revise step 1

* Fix robot_description path

* Update rviz screenshot to use world frame

* Conclude step 1

* Revise step 2

* Reformat step 3

* Revise step 3

* Revise step 4

* Explain integration dependencies

* Fix ROS and MoveIt abbreviations

* Revise step 5

* Fix minimal formatting issues

* Fix error due to duplicate hyperlink target

* Proofread and include references

* Update doc/multiple_robot_arms/multiple_robot_arms_tutorial.rst

Co-authored-by: AndyZe <[email protected]>

* Change rgt to right and lft to left

* Update screenshots to show right and left

* Delete unneeded files

* Shorten the motion planning step

* Minimal fix to the target link position

* Fix the title of the tutorial

* Remove the word "MoveIt" from the title

* Grammar nitpicks

* Mention a move_group for both arms

* Update url

* Formatting

Co-authored-by: AndyZe <[email protected]>
Co-authored-by: Andy Zelenak <[email protected]>

doc/mesh_filter/mesh_filter_tutorial.rst

@@ -82,7 +82,7 @@ Include sensor plugin in a ``.gazebo`` file. In this tutorial, a kinect sensor p
     </gazebo>
 
 
-Attach sensor to `base urdf <https://github.com/ros-industrial/universal_robot/blob/melodic-devel/ur_description/urdf/ur5.urdf.xacro>`_ of UR5 using links and joints as shown in ``ur5_sensor.urdf.xacro`` ::
+Attach sensor to `base urdf <https://github.com/ros-industrial/universal_robot/blob/melodic-devel/ur_description/urdf/ur5.xacro>`_ of UR5 using links and joints as shown in ``ur5_sensor.urdf.xacro`` ::
 
     <!-- ur5 -->
     <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />

index.rst

@@ -68,6 +68,7 @@ Before attempting to integrate a new robot with MoveIt, check whether your robot
    doc/ikfast/ikfast_tutorial
    doc/trac_ik/trac_ik_tutorial
    doc/opw_kinematics/opw_kinematics_tutorial
+   doc/multiple_robot_arms/multiple_robot_arms_tutorial
 
 Configuration
 -------------