Revert "Remove drift and control dimension services, add ServoCommand…

…Type service and ServoStatus message (moveit#161)"

This reverts commit 64b65e2.

CMakeLists.txt

@@ -101,6 +101,8 @@ set(srv_files
   "srv/DeleteRobotStateFromWarehouse.srv"
   "srv/ServoCommandType.srv"
   "srv/GetGroupUrdf.srv"
+  "srv/ChangeControlDimensions.srv"
+  "srv/ChangeDriftDimensions.srv"
 )
 
 set(action_files

srv/ChangeControlDimensions.srv

@@ -0,0 +1,12 @@
+# For use with moveit_jog_arm Cartesian planner
+#
+# Turn on/off jogging along these dimensions.
+# Give 'true' to enable jogging in the direction, 'false' to disable
+bool control_x_translation
+bool control_y_translation
+bool control_z_translation
+bool control_x_rotation
+bool control_y_rotation
+bool control_z_rotation
+---
+bool success

srv/ChangeDriftDimensions.srv

@@ -0,0 +1,17 @@
+# For use with moveit_jog_arm Cartesian planner
+#
+# Allow the robot to drift along these dimensions in a smooth but unregulated way.
+# Give 'true' to enable drift in the direction, 'false' to disable.
+# For example, may allow wrist rotation by drift_x_rotation == true.
+bool drift_x_translation
+bool drift_y_translation
+bool drift_z_translation
+bool drift_x_rotation
+bool drift_y_rotation
+bool drift_z_rotation
+
+# Not implemented as of Jan 2020 (for now assumed to be the identity matrix). In the future it will allow us to transform
+# from the jog control frame to a unique drift frame, so the robot can drift along off-principal axes
+geometry_msgs/Transform transform_jog_frame_to_drift_frame
+---
+bool success