Fix various issues with Noetic build

[rhaschke]

Travis wasn't yet testing master branch against Noetic. Switching to Noetic revealed several open issues, which are tackled by this PR:

• Our ikfast unittests were failing and we didn't notice: https://travis-ci.com/github/ros-planning/moveit/jobs/391217949.
• lxml API has changed, giving rise to IKfast plugin not working #2322. This PR fixes IKfast plugin not working #2322.
• There were several new warnings, particularly by newer clang compiler.

[codecov]

Codecov Report

Merging #2327 into master will decrease coverage by 1.23%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2327      +/-   ##
==========================================
- Coverage   57.90%   56.68%   -1.22%     
==========================================
  Files         327      283      -44     
  Lines       25633    25455     -178     
==========================================
- Hits        14841    14426     -415     
- Misses      10792    11029     +237     

Impacted Files	Coverage Δ
...lude/moveit/collision_detection/collision_common.h	80.00% <ø> (-4.00%)	⬇️
...include/moveit/robot_model/prismatic_joint_model.h	0.00% <0.00%> (-50.00%)	⬇️
...parameterization/model_based_state_space_factory.h	66.67% <0.00%> (-33.33%)	⬇️
...sh_filter/include/moveit/mesh_filter/mesh_filter.h	75.00% <0.00%> (-25.00%)	⬇️
...e_controller_manager/src/moveit_fake_controllers.h	33.34% <0.00%> (-16.66%)	⬇️
moveit_core/exceptions/src/exceptions.cpp	0.00% <0.00%> (-16.66%)	⬇️
...ing/planning_request_adapter_plugins/src/empty.cpp	0.00% <0.00%> (-12.50%)	⬇️
...gins/src/add_iterative_spline_parameterization.cpp	0.00% <0.00%> (-12.50%)	⬇️
..._plugins/src/add_time_optimal_parameterization.cpp	0.00% <0.00%> (-11.76%)	⬇️
...tup_assistant/src/tools/collision_matrix_model.cpp	0.00% <0.00%> (-11.62%)	⬇️
... and 255 more

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[gavanderhoorn]

Some comments.

[rhaschke]

Thanks, Gijs for your comments. This is ready for merging. Please don't squash these rather independent commits - the scope of this PR quickly grew beyond a mere fix of ikfast tests.

[felixvd]

Did you mean to write merge-commit instead of squash?

[gavanderhoorn]

I'm indeed assuming @rhaschke meant to write "please don't squash".

---

Edit; and I'll wait for him to confirm this.

[rhaschke]

Yeah. Of course I mean't don't squash... Sorry for the confusion.

[gavanderhoorn]

No problem.

Congrats on getting your first MoveIt pull request merged and improving open source robotics! 🎉

---

Edit: o wait ;)

[gavanderhoorn]

@rhaschke: will these changes need backporting to the noetic branch, or will we sync that with master before doing a release?

[rhaschke]

Thanks for merging. I am keeping master and noetic-devel in sync manually until we really need to diverge...
No need for explicit backporting. But I will backport parts of this to melodic-devel. Stay tuned. 😉

[roboticswithjulia]

Hello!
I have faced the same problem working with noetic, after trying to generate the ik plugin of an .urdf i get the same error:
File ".../ikfast_kinematics_plugin/scripts/create_ikfast_moveit_plugin.py", line 51, in
import yaml
ImportError: No module named yaml

Which branch I should be working to ensure that the code works? I tryied master and noetic-devel branch but neither of them worked for me.

[rhaschke]

@juliamp22, please file a new issue if you observe a new issue. Do you have installed the Debian package python3-yaml?

[roboticswithjulia]

Hello @rhaschke yes, I have it installed.
I am trying to use the plugin using the ikfast_tutorial.
I have seen that maybe it could be some problems about having python 2 and 3 versions installed at the same time.
Also, which openrave version should I have to use?

Thanks for your help.

[rhaschke]

Please open a new issue and exactly describe your environment as well as the step that is failing. Maybe, you use some conda environment, which is typically not compatible to ROS?

[roboticswithjulia]

Hello @rhaschke I just opened a new issue, you can find here: #3010
As far as I can see it may be because you are using the OpenRave version openrave0.9 and as far as I can see in ubuntu 20.04 should use the version 0.54.0?

Many thanks for your time and your effort,

Júlia