PlanningComponent: Load plan_request_params and use it when calling p…

[JafarAbdi]

This PR do the following:

1- Load the plan_request_params parameters and use them as default when calling PlanningComponent::plan() if a parameter is not loaded it uses the previous default value
2- Constructs MoveItCpp's node_handle_ member variable with the input nh
3- It uses delegating constructor when no MoveItCpp object is passed to PlanningComponent

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

[mamoll]

Looks good to me!

[jliukkonen]

What about error checking in this function? The param method will return false on failure but there is no checking for that here. The default value is then utilized but wouldn't it be better to inform user that the parameter values they set are not being used? For example, would it be possible to typo the max_velocity_scaling_factor, default to 1.0 and have the arm move really fast?

[henningkayser]

I don't think error checking is required because of the default values. You could say that overriding these values is the optional behavior, so I don't think we need extensive user infos here. Sanity checks and warnings are issued by the planning pipeline in case something is wrong. In general, moveit_cpp is currently not meant to provide a fool-proof user interface, but I would agree that we could add more debugging output about configuration and checks.

[codecov-commenter]

Codecov Report

Merging #2033 into master will increase coverage by 3.28%.
The diff coverage is 93.75%.

@@            Coverage Diff             @@
##           master    #2033      +/-   ##
==========================================
+ Coverage   54.09%   57.38%   +3.28%     
==========================================
  Files         319      328       +9     
  Lines       24997    25666     +669     
==========================================
+ Hits        13523    14728    +1205     
+ Misses      11474    10938     -536     

Impacted Files	Coverage Δ
...ng_interface/moveit_cpp/src/planning_component.cpp	48.76% <80.00%> (-1.24%)	⬇️
...cpp/include/moveit/moveit_cpp/planning_component.h	100.00% <100.00%> (ø)
...s/planning_interface/moveit_cpp/src/moveit_cpp.cpp	66.66% <100.00%> (ø)
...ls/include/moveit/py_bindings_tools/gil_releaser.h	0.00% <0.00%> (-100.00%)	⬇️
.../include/moveit/py_bindings_tools/py_conversions.h	0.00% <0.00%> (-86.67%)	⬇️
...s/include/moveit/py_bindings_tools/serialize_msg.h	0.00% <0.00%> (-80.00%)	⬇️
...ove_group_interface/src/wrap_python_move_group.cpp	31.96% <0.00%> (-11.08%)	⬇️
...rimental/moveit_jog_arm/src/jog_interface_base.cpp	73.01% <0.00%> (-5.62%)	⬇️
...veit_experimental/moveit_jog_arm/src/jog_calcs.cpp	72.97% <0.00%> (-2.03%)	⬇️
...t_setup_assistant/src/tools/moveit_config_data.cpp	20.27% <0.00%> (-0.64%)	⬇️
... and 63 more

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