Add octomap and visualizations to moveit and rviz.

[Jelmerdw]

Description

This PR extends functions for the control of the arm, in preparation of grasping:

• One can create an octomap for MoveIt and visualize in RViz.
• One can visualize a grasp pose in Rviz.
• One can create, visualize and execute a plan for an end-effector pose as separate steps.
• One can control all actions mentioned using a simple ui, created with Python's nicegui package.

Fixes: #222, #278

Testing

You can test all actions by starting the franka_planning configuration in one terminal:

ros2 launch rcdt_launch robots.launch.py configuration:=franka_planning

and the simple ui in a second terminal:

ros2 run rcdt_utilities simple_gui.py --ros-args -p namespace:=franka1

You should be able to perform all actions in the browser on http://localhost:8080.

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[geurto]

Is this done just to ensure that the Octomap is not run all the time? Is there no way to disable/pause the Octomap generation more directly? Or does the third-party code not support that?

[Jelmerdw]

Indeed. I couldn't find a way to enable or disable. Also see:
moveit/moveit#1728

The only suggested solution is to enable/disable by passing the camera output to a topic (or not). I first tried this with a subscriber/publisher, but this results in delays due to serialization. Therefore I now start the topic_tools relay process to do this without serialization.

[geurto]

When running the robots.launch.py as indicated above, I get

[gz-4] [Err] [Physics.cc:1785] Attempting to create a mimic constraint for joint [fr3_finger_joint2] but the chosen physics engine does not support mimic constraints, so no constraint will be created.
[...]
[gz-4] [Err] [Ogre2MeshFactory.cc:595] Cannot load mesh with zero sub-meshes
[gz-4] [Err] [Ogre2MeshFactory.cc:124] Failed to get Ogre item for [/home/rcdt/rcdt_robotics/ros2_ws/install/rcdt_gazebo/share/rcdt_gazebo/models/basket/resources/basket.obj]
[gz-4] [Err] [SceneManager.cc:426] Failed to load geometry for visual: visual
[gz-4] [Err] [Ogre2MeshFactory.cc:595] Cannot load mesh with zero sub-meshes
[gz-4] [Err] [Ogre2MeshFactory.cc:124] Failed to get Ogre item for [/home/rcdt/rcdt_robotics/ros2_ws/install/rcdt_gazebo/share/rcdt_gazebo/models/brick/resources/baksteen.obj]
[gz-4] [Err] [SceneManager.cc:426] Failed to load geometry for visual: visual

And the simple_gui gives a "No executable found".

[rosalievanark]

More of a general question than a review comment, is there currently a logic present for the order of function-definitions or is it just "add new functions at the bottom"? Because if that's the case I would like to propose to start putting the functions in alphabetical order to make it easier to read through the code (at least for me).

Not suggesting to change it now but is this maybe something for in the future?

[rosalievanark]

Changing this from fr3_arm to arm, does that mean that for consistency all fr3_... variable names in the entire repo should be removed or is it done here because this part of the code is general enough?

[rosalievanark]

Should this TODO still be done within this PR?

[rosalievanark]

Other comments I left are primarily for my information