Cartesian Velocity - update

[OmidRezayof]

Dear @mhubii. I tried to merge the latest updates from the master/humble branch and create a new PR.

Of note, the move_2_cart is now a service, and move_to_cart_client will activate the service.

asbr.py is a module written by one of my colleagues in lab and is basically a library for linear algebra/robotic stuff. I asked for his permission to contribute the code but it is not available through pip.

long_lines.py is just a personal code for me and my project. I didn't know how to exclude that from the PR so feel free to reject it.

[mhubii]

no worries, lets work through this, thank you for the PR

[mhubii]

no worries, so the problem with this PR are changes that are unrelated to the PR, hope this makes sense

[OmidRezayof]

Dear @mhubii, I'm sorry I was unaware that this PR is still open.
I have somehow finalized and cleaned up the motion planning in the cartesian space and everything is working and looking good. I think this can be useful to the community. I'm planning to further clean up, add some comments and create a branch with unnecessary files removed and then re-open a PR.
If there has been new commits to the repo that eliminates the need for a cartesian space motion planning and control, please lmk so I wouldn't open a new PR.