Offline motion plan generator / executor

[mpowelson]

What is the status of tesseract_ignition? One thing that would be pretty useful is if we had a way to generate motion plans offline and store them as xml (very exciting that we can serialize TCL now). Ie, if we could use the manipulator tool to move the robot around in sim (or real robot) and create plans between points and then click a button to save them to XML as a composite of move instructions (a tesseract teach pendant program).

The next obvious step is to have a way to execute them. Ultimately, this could be another type of instruction (e.g. ExecuteFileInstruction) that could be embedded into our regular plans. However, in the short term it could be as simple as a ros service server that just loads a directory and returns a motion plan when requested.