[Feature request] Unify simple and complex interface

[fzoric8]

Motivation

Merge simple and complex interface into one. Where user will be able to choose in which way to interface with a robot.

Use-case

To further simplify development, especially adding novel features - it is reasonable to unify two scripts into one that retains functionality of both, and where we can choose upon launch time which interface to use.

Additional

In order to simplify software maintenance requirements, unify arm_api2 in one script.

Implementation

Add one flag or attribute that where we setup interface.
We can discern between: a) SIMPLE and b) ADVANCED interface.
When using simple interface, we can command robot by just using ROS topics, when using ADVANCED interface, we can command robot using ROS action and properly monitor action (i.e. motion) execution.

Time frame

One day.