Pick and Place object with stable end-effector

[afr2903]

For the task of Serve breakfast, the robot has to grab an object, and rotate it to serve its contents (food of liquid). The main problem is that our current pick and place pipeline isn't built to maintain the end-effector in a stable as its movement is not limited to cartesian translations.

[afr2903]

One part of the task is to upload the current developments with runs in the terminal.

The second part is the programming of the nodes.

[EmilianoHFlores]

Pick and Place tasks with stable end effector can now be performed with stability. The issue will not be closed until refactorization is done in both the cartesian_movement package and the main manipulation server.

[EmilianoHFlores]

Issue will be closed and fixes for this branch will be separated in their respective issues.