load sensors_3d.yaml

[mikeferguson]

Description

this implements #1297 - also requires some changes to the MSA, which will be a separate PR to that feature branch. The changes are namely:

• "sensors" is expected to be a vector of strings (sensor names)
• the sensor config then needs to be namespaced under the sensor name provided
• all of the distance/padding parameters need to be floating point - not integer or string.

Example of changes to get a working configuration: mikeferguson/ubr_reloaded@45b9e52

Please explain the changes you made, including a reference to the related issue if applicable

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Merging #1387 (841dba5) into main (3a51feb) will increase coverage by 0.03%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main    #1387      +/-   ##
==========================================
+ Coverage   61.55%   61.57%   +0.03%     
==========================================
  Files         274      274              
  Lines       24977    24977              
==========================================
+ Hits        15371    15378       +7     
+ Misses       9606     9599       -7     

Impacted Files	Coverage Δ
...nning_scene_monitor/src/planning_scene_monitor.cpp	45.73% <0.00%> (+0.44%)	⬆️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	76.43% <0.00%> (+1.08%)	⬆️

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[vatanaksoytezer]

@mikeferguson thank you so much for the PR! I'm unsure why the CI is failing, the failure seems unrelated to this PR, I'll look into it. Pasting the error message just for reference:

2022-06-23T03:31:36.4720982Z 3: Test command: /usr/bin/python3.10 "-u" "/opt/ros/humble/share/ament_cmake_test/cmake/run_test.py" "/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test_results/moveit_kinematics/test_launch_fanuc-kdl-singular.test.py.xunit.xml" "--package-name" "moveit_kinematics" "--output-file" "/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/ros_test/test_launch_fanuc-kdl-singular.test.py.txt" "--command" "ros2" "test" "/home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/test/launch/fanuc-kdl-singular.test.py" "test_binary_dir:=/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test" "--junit-xml=/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test_results/moveit_kinematics/test_launch_fanuc-kdl-singular.test.py.xunit.xml" "--package-name=moveit_kinematics"
2022-06-23T03:31:36.4722302Z 3: Test timeout computed to be: 60
2022-06-23T03:31:36.4722835Z 3: -- run_test.py: invoking following command in '/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test':
2022-06-23T03:31:36.4724266Z 3:  - ros2 test /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_kinematics/test/launch/fanuc-kdl-singular.test.py test_binary_dir:=/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test --junit-xml=/home/runner/work/moveit2/moveit2/.work/target_ws/build/moveit_kinematics/test_results/moveit_kinematics/test_launch_fanuc-kdl-singular.test.py.xunit.xml --package-name=moveit_kinematics
2022-06-23T03:31:36.4725027Z 3: Running with ROS_DOMAIN_ID 1
2022-06-23T03:31:36.4725266Z 3: ROS_DOMAIN_ID 1
2022-06-23T03:31:36.4725498Z 3: Failed to handle type {}

[mikeferguson]

@vatanaksoytezer don't worry about the build failure quite yet - at least part of it is this PR - the various robot configs in moveit_resources are all missing the sensors_3d.yaml (so the first time around it failed due to missing file - I added a file.exists - but now I see that causes a parsing issue later since it ends up putting an empty dictionary into some of the tests - I'll work on resolving that today)

[vatanaksoytezer]

@mikeferguson sounds good, thank you for looking at this!

[mikeferguson]

the second part of this (that the first sensor is non-empty) can be removed once moveit/moveit_resources#141 is released

[mikeferguson]

@vatanaksoytezer @DLu this is now ready for a review (tests are passing, I'd suggest we merge with the extra logic and I'll come back and remove that extra checking in a month or so once the moveit_resources stuff percolates through the build farm)

[vatanaksoytezer]

I just released moveit_resources for rolling and humble with David's fixes: ros/rosdistro#33703 and ros/rosdistro#33702. So we are just waiting them to get merged and synced. @mikeferguson the PR looks good to me, I'm happy to approve and merge if you don't mind adding a TODO and open up an issue to remove it so we don't forget. Thank you very much!

[mikeferguson]

@vatanaksoytezer TODO has been added (it should only take a few weeks for a sync to happen and then we can remove the code). This has been rebased after the massive feature/msa merge - if you have time to do a review would like to get this in.