Fixup #3388

[rhaschke]

The implementation of #3388 relied on an up-to-date RobotState to compute the relative transform in getRigidlyConnectedParentLinkModel(). However, as these transforms are all fixed, we are able to compute the transform from those fixed relative transforms only, w/o the need for updated global transforms.
Fixes #3467.

[codecov]

Codecov Report

Patch coverage: 64.80% and project coverage change: +0.05 🎉

Comparison is base (ba04810) 61.82% compared to head (cfcd5ec) 61.86%.

Additional details and impacted files

@@               Coverage Diff                @@
##           noetic-devel    #3470      +/-   ##
================================================
+ Coverage         61.82%   61.86%   +0.05%     
================================================
  Files               380      385       +5     
  Lines             33610    34073     +463     
================================================
+ Hits              20775    21077     +302     
- Misses            12835    12996     +161     

Impacted Files	Coverage Δ
...lude/moveit/collision_detection/collision_matrix.h	100.00% <ø> (ø)
...bot_model/include/moveit/robot_model/joint_model.h	89.34% <ø> (ø)
...t_state/include/moveit/robot_state/attached_body.h	100.00% <ø> (ø)
...bot_state/include/moveit/robot_state/robot_state.h	85.12% <ø> (+0.76%)	⬆️
moveit_core/utils/src/xmlrpc_casts.cpp	0.00% <0.00%> (ø)
...moveit/move_group_interface/move_group_interface.h	36.85% <ø> (ø)
.../moveit/setup_assistant/tools/moveit_config_data.h	44.45% <ø> (ø)
...tup_assistant/src/tools/collision_linear_model.cpp	0.00% <0.00%> (ø)
...t_setup_assistant/src/tools/moveit_config_data.cpp	14.34% <0.00%> (-0.76%)	⬇️
moveit_core/robot_model/src/joint_model.cpp	52.76% <12.50%> (-2.70%)	⬇️
... and 14 more

... and 12 files with indirect coverage changes

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[Eruvae]

I checked out this PR to see if it works, and while it fixes the demo code, I still receive one dirty link transform warning in my original setup, and setting the goal fails. The warning gets triggered from the bio_ik plugin that I'm trying to use, which calls getGlobalLinkTransform here. With the original IK plugin, the code is working.

[rhaschke]

With the original IK plugin, the code is working.

With original IK, you refer to KDL IK I guess?

In any case, I think this didn't work (with BioIK) before #3388 either, did it?
To fix that issue finally, I added an update() in RobotState::setFromIK().

[Eruvae]

Yes, the default plugin is KDL.
You're right, with bio_ik it doesn't work with version 1.11 either. Integrating it is a current project, so I hadn't used it before. So I guess it could also be fixed on the bio_ik site instead. However, with the new commit, it is working.