Use predefined robot states from melodic-devel (#52)

Define poses ready, extended, open, close as in melodic-devel branch.

config/fake_controllers.yaml

@@ -13,5 +13,7 @@ controller_list:
       - panda_finger_joint1
       - panda_finger_joint2
 initial:
-  - group: panda_arm_hand
+  - group: panda_arm
     pose: ready
+  - group: hand
+    pose: open

config/panda_arm.xacro

@@ -19,6 +19,15 @@
       <joint name="panda_joint6" value="1.571" />
       <joint name="panda_joint7" value="0.785" />
     </group_state>
+    <group_state name="extended" group="panda_arm">
+      <joint name="panda_joint1" value="0" />
+      <joint name="panda_joint2" value="0" />
+      <joint name="panda_joint3" value="0" />
+      <joint name="panda_joint4" value="0" />
+      <joint name="panda_joint5" value="0" />
+      <joint name="panda_joint6" value="0" />
+      <joint name="panda_joint7" value="0.785" />
+    </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="virtual_joint" type="floating" parent_frame="world" child_link="panda_link0" />

config/panda_arm_hand.srdf.xacro

@@ -17,15 +17,13 @@
     <group name="panda_arm" />
     <group name="hand" />
   </group>
-  <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
-  <group_state name="ready" group="panda_arm_hand">
-    <joint name="panda_joint1" value="0" />
-    <joint name="panda_joint2" value="-0.785" />
-    <joint name="panda_joint3" value="0" />
-    <joint name="panda_joint4" value="-2.356" />
-    <joint name="panda_joint5" value="0" />
-    <joint name="panda_joint6" value="1.571" />
-    <joint name="panda_joint7" value="0.785" />
+  <group_state name="open" group="hand">
+    <joint name="panda_finger_joint1" value="0.035" />
+    <joint name="panda_finger_joint2" value="0.035" />
+  </group_state>
+  <group_state name="close" group="hand">
+    <joint name="panda_finger_joint1" value="0" />
+    <joint name="panda_finger_joint2" value="0" />
   </group_state>
   <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
   <end_effector name="hand" parent_link="panda_link8" group="hand" parent_group="panda_arm" />