[jog_arm] time-based collision avoidance

[AndyZe]

The old collision avoidance algorithm used manually-defined thresholds. This adds a new algorithm based on how fast the collision is approaching. It's optional, as you can see from the yaml file.

Video of it in action:

https://drive.google.com/file/d/1vMrrtflJme3Hexfo-685rKVS7uWIy14s/view?usp=sharing

[v4hn]

You forgot the video 😄

[henningkayser]

General approach looks good to me. I see that it makes a lot of sense to throttle the motion dynamically. Is there a reason we don't apply both methods at the same time so that the user decides how to set this up, i.e. you could throttle scene collisions with the first method and then only use the second method for self collisions by setting the distance/threshold parameters.

[codecov]

Codecov Report

Merging #2100 into master will increase coverage by 0.03%.
The diff coverage is 55.73%.

@@            Coverage Diff             @@
##           master    #2100      +/-   ##
==========================================
+ Coverage   57.79%   57.83%   +0.03%     
==========================================
  Files         328      327       -1     
  Lines       25664    25580      -84     
==========================================
- Hits        14833    14793      -40     
+ Misses      10831    10787      -44     

Impacted Files	Coverage Δ
...rm/include/moveit_jog_arm/collision_check_thread.h	100.00% <ø> (ø)
...veit_jog_arm/include/moveit_jog_arm/jog_arm_data.h	100.00% <ø> (ø)
...veit_experimental/moveit_jog_arm/src/jog_calcs.cpp	70.93% <28.57%> (-2.05%)	⬇️
...ntal/moveit_jog_arm/src/collision_check_thread.cpp	80.59% <47.61%> (-9.97%)	⬇️
...rimental/moveit_jog_arm/src/jog_interface_base.cpp	72.79% <76.92%> (-0.23%)	⬇️
.../ompl_interface/src/detail/constrained_sampler.cpp	46.15% <0.00%> (-17.95%)	⬇️
...s/ompl/ompl_interface/src/ompl_planner_manager.cpp	54.68% <0.00%> (-3.13%)	⬇️
...ma_kinematics_plugin/src/lma_kinematics_plugin.cpp	78.94% <0.00%> (-2.26%)	⬇️
...ng_interface/moveit_cpp/src/planning_component.cpp	48.76% <0.00%> (-1.24%)	⬇️
...veit_core/robot_model/src/revolute_joint_model.cpp	89.76% <0.00%> (-0.72%)	⬇️
... and 36 more

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[tylerjw]

I read through these and they look good. I like the idea of these changes to how collision avoidance works. I restarted your travis run as I think the issue with clang-tidy has been resolved.