MSA cleanup

[rhaschke]

This PR factors out two simple commits from #2938:

• Pass xacro args to SRDF loading as well (fixes an issue reported by @rickstaa somewhere)
• Modernize some more loops (no idea why clang-tidy ignored them)

[codecov]

Codecov Report

Merging #3013 (a334d8b) into master (872d33d) will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##           master    #3013   +/-   ##
=======================================
  Coverage   61.80%   61.80%           
=======================================
  Files         370      370           
  Lines       33171    33171           
=======================================
  Hits        20498    20498           
  Misses      12673    12673           

Impacted Files	Coverage Δ
...eit_ros/manipulation/pick_place/src/pick_place.cpp	88.58% <0.00%> (-3.80%)	⬇️
...ipulation/pick_place/src/manipulation_pipeline.cpp	73.56% <0.00%> (-0.82%)	⬇️
...on/pick_place/src/approach_and_translate_stage.cpp	74.06% <0.00%> (-0.63%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	77.91% <0.00%> (-0.37%)	⬇️
.../ompl_interface/src/detail/constrained_sampler.cpp	60.98% <0.00%> (+17.08%)	⬆️

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[rickstaa]

@rhaschke Thanks for this pull request. I mentioned a problem with the xacro not being used when loading the SRDF file. I can not find the exact comment, but I remember I removed it because of the work needed to implement a fix. I will use the EDIT: or striketrough syntax to prevent loss of information. Amazing that you remembered it and implemented it!

[DLu]

@rhaschke Do you have an example of a config where the same xacro args need to get passed to the URDF and SRDF? I'm working on porting this to ROS 2.

[rhaschke]

panda_moveit_config uses the argument hand:=[true | false].