[MSA] Testing Framework for MoveItSetupAssistant

[DLu]

Description

Adds a nice testing harness for easy checking of generated files.

New Features:

• Updated sensor configuration format
• Keep trajectory execution parameters around

Tests

• Ported the ROS 1 tests for perception and controllers
• Added some SRDF Planning Groups tests

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

[mergify]

Please target the main branch for development, we will backport the changes to feature/msa for you if approved and if they don't break API.

[codecov]

Codecov Report

Merging #1383 (83171c6) into main (54b1a98) will decrease coverage by 10.70%.
The diff coverage is 79.42%.

@@             Coverage Diff             @@
##             main    #1383       +/-   ##
===========================================
- Coverage   61.56%   50.86%   -10.69%     
===========================================
  Files         274      381      +107     
  Lines       24982    31735     +6753     
===========================================
+ Hits        15377    16139      +762     
- Misses       9605    15596     +5991     

Impacted Files	Coverage Δ
...it_setup_controllers/moveit_controllers_config.hpp	66.67% <ø> (ø)
.../include/moveit_setup_framework/data_warehouse.hpp	100.00% <ø> (ø)
...tant/moveit_setup_framework/src/data_warehouse.cpp	70.46% <56.25%> (ø)
...moveit_setup_app_plugins/src/perception_config.cpp	71.22% <100.00%> (ø)
...etup_controllers/src/moveit_controllers_config.cpp	85.15% <100.00%> (ø)
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	75.36% <0.00%> (-1.07%)	⬇️
...veit/robot_state_rviz_plugin/robot_state_display.h	0.00% <0.00%> (ø)
...clude/moveit_setup_app_plugins/launches_config.hpp	0.00% <0.00%> (ø)
...e/moveit_setup_srdf_plugins/robot_poses_widget.hpp	0.00% <0.00%> (ø)
... and 106 more

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[vatanaksoytezer]

@DLu do you mind changing the target branch to main, now that we have the feature branch merged?

[mikeferguson]

As a note - this adds some tests that will be wrong once we fix the format of the sensors_3d.yaml load/export in #1398

[mikeferguson]

Looking at this PR, I'm also noticing a few other things about sensors_3d.yaml:

• the templates/sensor_3d.yaml isn't actually used by the MSA at this point (so that description at the top of the file is somewhat misleading). It would actually be nice to load the default values for the text boxes from this file.
• format of the templates/sensor_3d.yaml file is wrong - sensors should be a list of names, and then each of the sensor configurations should be namespaces under their name (lists of heterogenous items like this can't really be loaded as ROS2 params AFAIK).

[DLu]

Updated description above, ready for review

[mikeferguson]

Looks good to me - not sure what's going on with the test coverage showing as down 10% ?? Anybody know what's up with that?

[vatanaksoytezer]

not sure what's going on with the test coverage showing as down 10% ?? Anybody know what's up with that?

Maybe because of some caching we were getting an inaccurate test coverage before, and this PR fixed the cache by having a lot of changes? That's my best bet.

[DLu]

I've long wondered about the efficacy of the bot, and now I'm sure something's not right.