Robot arm demo showcasing operations and trajectory control

[bburda]

Summary

Add a manipulator arm demo (Panda or UR5) with MoveIt2 showing ros2_medkit's ability to discover and control industrial robots through REST API.

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Proposed solution

Why This Demo

• Different robot type - Arm vs mobile robot, different challenges
• Operations-heavy - MoveIt actions: plan, execute, cartesian paths
• Industrial relevance - Pick-and-place, assembly cells
• Configurations showcase - Joint limits, velocity scaling, planners

Demo Setup

Manipulator Demo
├── /arm (Panda/UR5 namespace)
│   ├── move_group (MoveIt2 planning)
│   ├── robot_state_publisher
│   └── controllers/
│       ├── joint_trajectory_controller
│       └── gripper_controller
└── /diagnostics
    └── ros2_medkit_gateway

Key Features to Demonstrate

1. MoveIt Operations via REST
2. Joint Configuration via REST
3. Fault Scenarios

Additional context

Dependencies:

• ros-jazzy-moveit packages
• ros-jazzy-panda-description (or ros-jazzy-ur-description)
• Gazebo with arm plugins