Checking for models with dispensable in names to not be considered an obstacle by slotcar

[aaronchongth]

Signed-off-by: Aaron Chong aaronchongth@gmail.com

New feature implementation

Implemented feature

Slotcar will not consider models with names that contain dispensable as obstacles. This will allow a robot to carry a model like MiRCart, which has an overlapping pose with the robot.

Spawning this robot using open-rmf/rmf_traffic_editor#436, will allow that to happen.

[codecov]

Codecov Report

Merging #74 (96254f1) into main (23717f1) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff            @@
##            main     #74      +/-   ##
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  Coverage   0.00%   0.00%              
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  Files        348     144     -204     
  Lines      33231   13400   -19831     
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+ Misses     33231   13400   -19831     

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tests	0.00% <ø> (ø)

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Impacted Files	Coverage Δ
...uilding_sim_gazebo_plugins/src/toggle_charging.cpp
...lation/rmf_robot_sim_common/src/slotcar_common.cpp
...on_plugins/src/toggle_charging/toggle_charging.cpp
...obot_sim_ignition_plugins/src/TeleportIngestor.cpp
...ion/rmf_robot_sim_ignition_plugins/src/slotcar.cpp
...on/include/rmf_robot_sim_common/slotcar_common.hpp
...f_simulation/rmf_building_sim_common/src/utils.cpp
...uilding_sim_gazebo_plugins/src/crowd_simulator.hpp
...tion/rmf_robot_sim_common/src/dispenser_common.cpp
...ion/rmf_building_sim_ignition_plugins/src/door.cpp
... and 466 more

[luca-della-vedova]

LGTM! I noticed that the condition we use to initialize infrastructure is not 100% bullet proof (if a map had no obstacle_exclusion we would re-initialize at every iteration). That is an obscure enough case that I guess we can still accept

[aaronchongth]

@luca-della-vedova Not really, after initialization there will be at least be itself in the set. I just added in a comment to explain that. It dismissed your review though, if you would be so kind 🙇

[luca-della-vedova]

ah of course 🤦‍♂️ thanks!