Naming inconsistencies

[dcconner]

There are several files with similar names in manipulation_states that operate differently.

I propose to implement the following changes in a kinetic_devel branch

1. GetJointsFromSrdfGroup --> GetJointNamesFromSrdfGroupState

• Add srdf_name parameter that defaults to "/robot_description_semantic"
• Name as "State" for consistency with other implementations

2. GetJointsFromSrdfState --> GetJointValuesFromSrdfFileState

• Specify that this is reading from file
• Specify we are getting joint values from named configuration

3. Create new GetJointValuesFromSrdfState

• Use srdf_name and read from parameter server (otherwise same as 2)

[dcconner]

4. JointStateToMoveit --> JointValuesToMoveGroupState

5. moveit_to_joints* --> these are essentially 4 with different combinations of userdata and parameters.

• Need consistent naming with 4.
• Need to validate that we have the proper names and values in user data fields

6. srdf_state_to_moveit --> NamedConfigToMoveGroupState
7. srdf_state_moveit_execute_trajectory --> NamedConfigToMoveServiceState

• executes move to a single position as direct trajectory service call