Services:

• plan_to_cart_rpy:
  Plans joint trajectories to reach a given end-effector pose in cartesian space where the orientation is given as Euler angles (RPY).
• plan_to_cart_quat:
  Plans joint trajectories to reach a given end-effector pose in cartesian space where the orientation is given as quaternion.
• plan_to_joint:
  Plans joint trajectories to reach a desired joint angle goal
• execute_plan:
  Executes the trajectories planned through various plan_* service calls
• move_home:
  Plans joint trajectory and moves the manipulator to the configuration where all joint angles are zero.
• move_to_cart_rpy:
  Plans joint trajectory and moves the end-effector to a given pose where the orientation is given as Euler angles (RPY).
• move_to_cart_quat:
  Moves the end-effector to a given pose where the orientation is given as quaternions.
• move_to_joint
  Executes the trajectories planned through various service plan_* service calls