srdf publisher node

[tylerjw]

• Sort lists in moveit_ros/planning CMake and package.xml
• srdf_publisher_node

Description

Similar to how robot_state_publisher publishes a string to /robot_description for the URDF this publishes to /robot_description_semantic controlled by a parameter of the same name.

MoveIt already subscribes to the topic /robot_description_semantic, so this node could be useful in a system using MoveIt.

[moriarty]

Can there be multiple robot_description_semantic parameter? or should if the get_name( ) == then should this function return?

[tylerjw]

Adding a break here instead of a return because we need to return success through the result for now.

[moriarty]

is this callback always suppose to return success or should it return success in the if, and false otherwise?

[tylerjw]

I'm adding a comment about this. In humble the only callback we have for parameters is the validation one. You may ask, why don't I validate this is a valid srdf? I considered that until I realized the srdf parser requires a urdf as a parameter which I don't want to make this node get the urdf just to validate the srdf. This node is just a relay anyway and if you use it to set an invalid srdf the nodes that depend on it will blow up.

After humble is eol we can use add_post_set_parameters_callback which is only in rolling now. I'm adding a comment explaining this.

[codecov]

Codecov Report

Attention: 24 lines in your changes are missing coverage. Please review.

Comparison is base (d962501) 50.74% compared to head (ae124e0) 41.50%.
Report is 7 commits behind head on main.

❗ Current head ae124e0 differs from pull request most recent head 1662647. Consider uploading reports for the commit 1662647 to get more accurate results

Files	Patch %	Lines
...default_capabilities/get_group_urdf_capability.cpp	0.00%	20 Missing ⚠️
...nning_scene_monitor/src/planning_scene_monitor.cpp	40.00%	3 Missing ⚠️
...py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp	0.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2682      +/-   ##
==========================================
- Coverage   50.74%   41.50%   -9.24%     
==========================================
  Files         392      691     +299     
  Lines       32553    56255   +23702     
  Branches        0     7288    +7288     
==========================================
+ Hits        16517    23341    +6824     
- Misses      16036    32752   +16716     
- Partials        0      162     +162     

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[moriarty]

thanks for the clarification comment

[sjahr]

Nice work! Should we add that node to the move_group launch files?

[mergify]

This pull request is in conflict. Could you fix it @tylerjw?