add joint jog config and example

Author: marioprats

src/lab_sim/config/moveit/joint_jog.yaml

@@ -0,0 +1,4 @@
+# Planning groups to use in JointJog, and their corresponding JVC controllers.
+# The number of elements in `planning_groups` and `controllers` must match.
+planning_groups: ['manipulator']
+controllers: ['joint_velocity_controller']

src/lab_sim/objectives/joint_jog_example.xml

@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<root BTCPP_format="4" main_tree_to_execute="Joint Jog Example">
+  <!--//////////-->
+  <BehaviorTree ID="Joint Jog Example" _description="" _favorite="false">
+    <Control ID="Sequence" name="TopLevelSequence">
+      <Action
+        ID="SwitchController"
+        activate_asap="true"
+        automatic_deactivation="true"
+        controller_list_action_name="/controller_manager/list_controllers"
+        controller_switch_action_name="/controller_manager/switch_controller"
+        strictness="1"
+        timeout="-1.000000"
+        activate_controllers="joint_velocity_controller"
+      />
+      <Action
+        ID="JointJog"
+        controller_name="joint_velocity_controller"
+        link_padding="0.010000"
+        stop_safety_factor="1.500000"
+      />
+    </Control>
+  </BehaviorTree>
+  <TreeNodesModel>
+    <SubTree ID="Joint Jog Example">
+      <MetadataFields>
+        <Metadata runnable="true" />
+        <Metadata subcategory="Application - Advanced Examples" />
+      </MetadataFields>
+    </SubTree>
+  </TreeNodesModel>
+</root>