Added MoveFromMouth Actions

[amalnanavati]

Description

In service of #53 . At the end of transfer, the robot is colliding with the wheelchair collision mesh. Therefore, the actions that take the robot from that position to above the plate or the resting position need to toggle that mesh off.

These actions for now execute the entire motion with the mesh toggled off. However, in the future we should consider only executing an initial part of the motion (e.g., move back to the staging location) with the mesh off, then re-enable it, and then complete the rest of the motion, for increased safety.

Testing procedure

Pull the code from ada_ros2#12.

• On the real robot, call MoveToMouth as documented in Implement MVP MoveToMouth #42 .
• Run ros2 action send_goal /MoveAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback and verify that it fails.
• Run ros2 action send_goal /MoveFromMouthToAbovePlate ada_feeding_msgs/action/MoveTo "{}" --feedback and verify that it succeeds.
• Run ros2 action send_goal /MoveToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback and verify that it fails.
• Run ros2 action send_goal /MoveFromMouthToRestingPosition ada_feeding_msgs/action/MoveTo "{}" --feedback and verify that it succeeds.

Before opening a pull request

• Format your code using black formatter python3 -m black .
• Run your code through pylint and address all warnings/errors. The only warnings that are acceptable to not address is TODOs that should be addressed in a future PR. From the top-level ada_feeding directory, run: pylint --recursive=y --rcfile=.pylintrc ..

Before Merging

• Squash & Merge

[amalnanavati]

Tested on t0b1 and ready to review @taylorkf . FYI this code depends on ada_ros2#12.

Note that this is not a particularly nice bite transfer motion. #64 exists to fix it.

[amalnanavati]

Subsumed by #72