Clear all references to RobotModel before destroying the corresponding
RobotModelLoader.

* waitForAction(): remove NodeHandle argument

* The NodeHandle was just for NodeHandle::ok(), which can be handled by ros::ok() as well.

* Fix initialization of params, etc. that depend on MoveGroupNS

* When the MoveGroupNS has changed, we should re-initialize all these
  params, subscribers, and topics.
  Thus having them in a central place is helpful ;-)

* Fix namespaces as pointed out by @v4hn

* Simplify nh_ naming

* update comments

)

There's no hard reason to do it this way or the other,
but a user reported unverified issues with the global include.

"attach_posture" is plain wrong.

I don't see why clang-tidy did not find this before.

to resolve links for attached objects as well

Merge branch 'pr-master-state-rigidly-attached-parent'

…gs (moveit#2928)

While we need to pass execution_type to fake_moveit_controller_manager.launch,
the controller_manager.launch files of real-robot shouldn't be required
to define this argument. However, if they don't roslaunch fails with an
`unused args` exception (see moveit#2786).
Passing arguments via pass_all_args should solve that issue.

* Switch CCOV to build type Debug
  RelWithDebInfo was using -DNDEBUG, thus ignoring all assertions.
  Also use -fno-omit-frame-pointer to have better coverage analysis.
* Use lcov-action to generate coverage info
* Unify syntax of `if` conditions

* fix enforce position bug

* remove unnecessary variable

* make clang tidy happy

* Update my comment

* implement same logic as in the moveit2! repo

* fix copy-pase error

Co-authored-by: Michael Wiznitzer <michael.wiznitzer@resquared.com>
Co-authored-by: AndyZe <andyz@utexas.edu>

- Downgrade ERROR to WARN
- Report affected joint name
- Quote (possibly empty) planner id

When planning an arm motion, Pilz's PTP planner shouldn't complain (and bail out)
on missing joint limits of hand joints!

Just complain about negative / zero values.

Otherwise, on a failure, the implicitly used success() will skip the step.

Gazebo requires a fixed joint from world to the first robot link.
This resembles the virtual_joint of SRDF.
However, the RobotModel parser issues the following warning:
Skipping virtual joint 'xxx' because its child frame 'xxx' does not match the URDF frame 'world'

Fixes the following error (occurring since 61d18f2)
```
[FATAL] ros.moveit_ros_planning.trajectory_execution_manager:
  Exception while loading controller manager 'robot':
  According to the loaded plugin descriptions the class robot
  with base class type moveit_controller_manager::MoveItControllerManager does not exist.
```

As we introduced `pass_all_args="true"`, the value of the argument
`moveit_controller_manager` was the robot name.

There are 3 basic MoveIt controller manager plugins:
- fake = `moveit_fake_controller_manager::MoveItFakeControllerManager`
  Used in demo.launch. Doesn't really control the robot, but just
  interpolates between via points. Allows these execution_types:
  - via points: just jumps to the via points
  - interpolate: linearly interpolates between via points (default)
  - last point: jumps to the final trajectory point (used for fast execution testing)

- ros_control = `moveit_ros_control_interface::MoveItControllerManager`
  Interfaces to ros_control controllers.

- simple = `moveit_simple_controller_manager/MoveItSimpleControllerManager`
  Interfaces to action servers for `FollowJointTrajectory` and/or `GripperCommand`
  that in turn interface to the low-level robot controllers (typically based on ros_control)

However, so far move_group.launch distinguished between `fake` and `robot` only.
The argument moveit_controller_manager now allows switching between all 3 variants.
Adding more *_moveit_controller_manager.launch files allows for an extension of this scheme.

- Reading both, the default and the existing package's sensors_3d.yaml
  into the config, the config file was growing by 2 configs each time.
- Not visiting the Perception tab, was writing the default config with 2 entries
- Selecting "None" was writing an invalid config:
  sensors:
    - {}
    - {}

Signed-off-by: Gaël Écorchard <gael.ecorchard@cvut.cz>

…eit#1218)

Co-authored-by: Jafar <cafer.abdi@gmail.com>

Co-authored-by: jeoseo <jeongwooseo2012@gmail.com>

…ion algorithm (moveit#1195)

* A new function for common time-param calculations

* Flesh out the second computeTimeStamps function

* Reading of the custom limits

* Add a unit test

* Revert comment changes about exceptions

* Small efficiency improvements

* Add computeTimeStamps() overload to the base class

Co-authored-by: Jafar <cafer.abdi@gmail.com>

…1221)

* Move common functionality to utility functions
* Add a utility function to read RobotModel bounds
* Add a unit test for the new version of computeTimeStamps()
* Clean up Doxygen
* Use ruckig::DynamicDOFs everywhere