merged catkin_ws into this project with submodules

.gitignore

 *.pyc
+catkin_ws/build/
+catkin_ws/devel/

.gitmodules

+[submodule "catkin_ws/src/universal_robot"]
+	path = catkin_ws/src/universal_robot
+	url = https://code.research.uts.edu.au/bigprint/universal_robot.git
+[submodule "catkin_ws/src/universal_robots_ros_driver"]
+	path = catkin_ws/src/universal_robots_ros_driver
+	url = https://code.research.uts.edu.au/bigprint/universal_robots_ros_driver.git

catkin_ws/.catkin_workspace

+# This file currently only serves to mark the location of a catkin workspace for tool integration

catkin_ws/src/CMakeLists.txt

+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

universal_robot @ 5f182d27

+Subproject commit 5f182d27a20593725da5857ed9115f67e609f2f6

universal_robots_ros_driver @ 48320154

+Subproject commit 483201546193edd139a6701b6ecbd529693c65a7

controller.py

@@ -5,6 +5,8 @@ from utils import ur_kinematics
 from math import pi
 import time
 import warnings
+from utils import *
+
 
 import rospy
 from trajectory_msgs.msg import (

test_moveit.py

+import sys
+import copy
+import rospy
+import moveit_commander
+import moveit_msgs.msg
+import geometry_msgs.msg
+from math import pi
+from std_msgs.msg import String
+from moveit_commander.conversions import pose_to_list
+
+
+moveit_commander.roscpp_initialize(sys.argv)
+rospy.init_node('python_controller',
+                anonymous=True)
+robot = moveit_commander.RobotCommander()
+
+scene = moveit_commander.PlanningSceneInterface()
+
+group_name = "manipulator"
+
+group = moveit_commander.MoveGroupCommander(group_name)
+
+display_trajectory_publisher = rospy.Publisher('/move_group/display_planned_path',
+                                                   moveit_msgs.msg.DisplayTrajectory,
+                                                   queue_size=20)
+planning_frame = group.get_planning_frame()
+
+eef_link = group.get_end_effector_link()
+
+group_names = robot.get_group_names()
+
+print robot.get_current_state()
+
+joint_goal = group.get_current_joint_values()
+joint_goal[0] = joint_goal[0] + 0.05
+joint_goal[1] = joint_goal[1] + 0.05
+joint_goal[2] = joint_goal[2] + 0.05
+joint_goal[3] = joint_goal[3] + 0.05
+joint_goal[4] = joint_goal[4] + 0.05
+joint_goal[5] = joint_goal[5] + 0.05
+
+group.go(joint_goal, wait=True)
+group.stop()