[Moveit_servo] Move and rename jogger

[AdamPettinger]

Description

I moved and renamed the jogger: moveit_experimental/moveit_jog_arm -> moveit_ros/moveit_servo. In addition to the file paths and names, I renamed some of the internals (namespaces, project/package names, JogArm interface class -> Servo interface class, etc). This PR overall looks like a ton of changes, but I tried to break it down so each commit is a logical step that only modifies file names, or changed the files insides so that no commit in itself had a tremendous amount of diffs.

Also kind of weird to test, but I copied the new moveit_servo package to a catkin workspace and built it there successfully. I am currently working on getting this to build with ROS2, so the COLCON_IGNORE will stay for a bit longer

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 #223 into master will decrease coverage by 0.07%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master     #223      +/-   ##
==========================================
- Coverage   47.43%   47.35%   -0.08%     
==========================================
  Files         143      143              
  Lines       13347    13347              
==========================================
- Hits         6331     6321      -10     
- Misses       7016     7026      +10     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	66.22% <0.00%> (-4.45%)	⬇️

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[AndyZe]

I cloned the repo and grepped for jog. It looks like many other replacements need to be made. Especially in the /test folder. Were you ignoring tests on purpose for now?

I'll send you a message on how to find/replace recursively, that should make this a lot faster.

[AndyZe]

I guess servo_server is a bit strange to say, but I'm OK with it

[AdamPettinger]

"jog" does still exist in quite a lot of places. There are definitely some places that need to be changed in the tests (e.g. def test_jog_arm_halt_msg(node)), and I will make those changes

Then throughout the package there are some potential changes that are less obvious. Some examples:

• Are we going to refer to it as joint jogging and Cartesian jogging, or joint servoing and Cartesian servoing?
• "the jogger" is in a lot of comments, what replaces that?
• Changing JogCalcs -> ServoCalcs? Discussed offline and I think making this change is good
• Parameters in the examples: keep as delta_jog_cmds, or replace with what? delta_servo_cmds?

[rhaschke]

Didn't we want to rename this package in both ROS1 and ROS2?

[AndyZe]

Didn't we want to rename this package in both ROS1 and ROS2?

Sorry I missed the meeting yesterday. After a few weeks of no jog discussion, I thought it was safe to skip. Wrong.

I don't want to give Adam more menial tasks, nor distract him from the main goal. If you feel strongly that it should get renamed in ROS1, I can do that. Do you feel strongly?

[AndyZe]

* Are we going to refer to it as joint jogging and Cartesian jogging, or joint servoing and Cartesian servoing?

I think we should purge "jog" as much as possible. So, joint servoing and Cartesian servoing.

* "the jogger" is in a lot of comments, what replaces that?

"the servo server"? "the servo node"?

* Changing JogCalcs -> ServoCalcs? Discussed offline and I think making this change is good

yep, i think so too

* Parameters in the examples: keep as `delta_jog_cmds`, or replace with what? `delta_servo_cmds`?

Don't we have delta_joint_cmds and delta_jog_cmds? I think it should be delta_joint_cmds and delta_cartesian_cmds

[AdamPettinger]

I think these sound good and what I was leaning towards

So, joint servoing and Cartesian servoing.

"the servo node"

I think it should be delta_joint_cmds and delta_cartesian_cmds

But I think I will do delta_joint_cmds and delta_twist_cmds

[v4hn]

Do you feel strongly?

Talk to Henning about porting from MoveIt1 to MoveIt2. We really want that name to change everywhere, otherwise porting between versions becomes even more of a nightmare!

[AdamPettinger]

New commits to address @AndyZe's comments.

Testing this work in a catkin workspace, so it should work OK in ROS1 if we decide to go that route

[AdamPettinger]

Closing this now. With the rename done in ROS1 moveit/moveit#2165, we don't need to do it here, and should be able to sync those rename changes to moveit2 after #227 is merged