Add new msa planners

[rickstaa]

This pull request updates the MSA such that it:

• Creates the config and launch files for the STOMP planner 97a8c5d.
• Creates the config and launch files for the CHOMP-STOMP planning pipeline b28da2d.
• Only uses required parameters in the CHOMP configuration 504d9fe.
• Uses the right values for the CHOMP parameters 40f5b49.

It further also removes deprecated code from the CHOMP planner.

The output of the MSA can be found in this repository (Please NOTE that this config uses all the pull requests that are listed in moveit/panda_moveit_config#96).

[codecov]

Codecov Report

Merging #2955 (3612369) into master (fd36674) will increase coverage by 0.12%.
The diff coverage is 0.00%.

@@            Coverage Diff             @@
##           master    #2955      +/-   ##
==========================================
+ Coverage   61.55%   61.67%   +0.12%     
==========================================
  Files         370      374       +4     
  Lines       33145    33261     +116     
==========================================
+ Hits        20399    20509     +110     
- Misses      12746    12752       +6     

Impacted Files	Coverage Δ
...ners/chomp/chomp_interface/src/chomp_interface.cpp	93.34% <ø> (ø)
...er/include/chomp_motion_planner/chomp_parameters.h	100.00% <ø> (ø)
...homp/chomp_motion_planner/src/chomp_parameters.cpp	84.85% <ø> (ø)
.../moveit/setup_assistant/tools/moveit_config_data.h	44.45% <ø> (ø)
...t_setup_assistant/src/tools/moveit_config_data.cpp	13.93% <0.00%> (-1.46%)	⬇️
...moveit/move_group_interface/move_group_interface.h	36.85% <0.00%> (-9.58%)	⬇️
...t_ros/robot_interaction/src/locked_robot_state.cpp	96.88% <0.00%> (-3.12%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	52.36% <0.00%> (-0.19%)	⬇️
.../move_group_interface/src/move_group_interface.cpp	47.66% <0.00%> (-0.04%)	⬇️
...it/collision_detection/test_collision_common_pr2.h	98.12% <0.00%> (-0.04%)	⬇️
... and 20 more

---

Continue to review full report at Codecov.

Legend - Click here to learn more
Δ = absolute <relative> (impact), ø = not affected, ? = missing data
Powered by Codecov. Last update fd36674...3612369. Read the comment docs.

[rhaschke]

Thanks for working on this. Please use templates instead of source code to generate files (see below).

[rickstaa]

@rhaschke I will update the stomp config generation so that it includes the right planning groups tomorrow. I think after that this commit is ready to be merged.

[rickstaa]

@rhaschke This pull request is finished. I now made sure the STOMP config works with all robots instead of creating the Panda Stomp config (i.e. 87e0b87). I further cleaned up the CHOMP configuration file creation (70a24a0). I, however, found some problems when trying out the STOMP algorithm. Would you mind checking my comments made on this pull request before merging (i.e. comments regarding default values)?

Stomp problems

• The STOMP algorithm does not work with the hand. I am not familiar with the stomp algorithm, so I am not sure if it supports the parallel yaw gripper; when I try controlling this gripper, MoveIt crashes.
• The STOMP algorithm seems to reach the planning timeout but still can plan. The following console logs are shown:

[rickstaa]

Please double-check if these commented parameters can really be removed or that they will be enabled again in the future. The code that uses them was removed in 6114fe5 by
@raghavendersahdev. If they are needed we can drop 504d9fe.

[rhaschke]

I generally approve. Just a small nitpick:

[rickstaa]

@rhaschke Thanks for reviewing this pull request. Did you or @raghavendersahdev verify that the code removal I did in 6c930d7 is justified?

[rhaschke]

Did you or @raghavendersahdev verify that the code removal I did in 6c930d7 is justified?

As you said, the corresponding code was commented out a long time ago. I think it's good to have this cleanup.