unilab添加moveit启动

1,整合所有moveit节点到一个move_group中，并整合所有的controller依次激活
2,添加pymoveit2的节点，使用json可直接启动
3,修改机械臂规划方式，添加约束，让冗余关节不会进行过多移动

unilabos/device_mesh/ros2_controllers.yaml

@@ -0,0 +1,31 @@
+benyao_arm_controller:
+  ros__parameters:
+    command_interfaces:
+    - position
+    joints:
+    - benyao_arm_base_joint
+    - benyao_arm_link_1_joint
+    - benyao_arm_link_2_joint
+    - benyao_arm_link_3_joint
+    - benyao_gripper_base_joint
+    state_interfaces:
+    - position
+    - velocity
+benyao_gripper_controller:
+  ros__parameters:
+    command_interfaces:
+    - position
+    joints:
+    - benyao_gripper_right_joint
+    state_interfaces:
+    - position
+    - velocity
+controller_manager:
+  ros__parameters:
+    benyao_arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+    benyao_gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+    update_rate: 100