Makes rviz trajectory visualization topic relative

[rickstaa]

This commit makes sure the RVIZ trajectory visualization plugin looks for the trajectory topic to be on the relative ns instead of the absolute ns when it is first added to Rviz (i.e. move_group/display_planned_path vs. /move_group/display_planned_path). This was done to make sure that it respects the namespaces that are set in launch files. This is useful when you are using MoveIt for multi robot control.

I did not find any images or text in the documentation that needs to be updates. Please let me know if I missed something.

[welcome]

Thanks for helping in improving MoveIt and open source robotics!

[felixvd]

LGTM and it looks like it should work, but I didn't test

[rickstaa]

@felixvd Thanks for looking into my pull request. I applied the changes you requested. I tested this pull request using the following steps:

1. Build the MoveIt package from source while bing on the pull request branch.
2. Start a ROS core.
3. Start RVIZ.
4. Add the trajectory plugin.

I did not encounter any errors while performing this steps.

[felixvd]

Does it display the trajectory like in this tutorial? :)

[rickstaa]

@felixvd Ah that's a good tutorial to test it on. It seems to work, see GIF below. There are some warnings shown under the MarkerArray, but these look unrelated to my pull request as they also are present on the master branch.

[felixvd]

Thanks for double checking!

[codecov]

Codecov Report

Merging #2835 (dc43240) into master (7cea1f2) will increase coverage by 0.02%.
The diff coverage is n/a.

❗ Current head dc43240 differs from pull request most recent head 40f9adc. Consider uploading reports for the commit 40f9adc to get more accurate results

@@            Coverage Diff             @@
##           master    #2835      +/-   ##
==========================================
+ Coverage   60.81%   60.83%   +0.02%     
==========================================
  Files         366      366              
  Lines       31717    31717              
==========================================
+ Hits        19285    19291       +6     
+ Misses      12432    12426       -6     

Impacted Files	Coverage Δ
...g_scene_interface/src/planning_scene_interface.cpp	47.46% <0.00%> (-1.12%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.13% <0.00%> (-0.13%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.25% <0.00%> (+0.39%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	81.14% <0.00%> (+0.63%)	⬆️
...on/pick_place/src/approach_and_translate_stage.cpp	74.03% <0.00%> (+0.65%)	⬆️
.../ompl_interface/src/detail/constrained_sampler.cpp	59.46% <0.00%> (+16.22%)	⬆️

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[v4hn]

Obvious fix, thank you. I wouldn't even mention it in the MIGRATIONS.md, but as you want it there, I just added another guard so most people can skip it when they look at the list :)

[welcome]

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