Print a warning from TOTG if the robot model mixes revolute/prismatic joints

[AndyZe]

Description

I believe TOTG can't handle mixed units well because the path_tolerance_ parameter is just a scalar value. So there's no good way to measure angular error mixed with linear error. Best just to fail and print a nice warning for the user.

[codecov]

Codecov Report

Base: 50.25% // Head: 50.29% // Increases project coverage by +0.05% 🎉

Coverage data is based on head (cc2bcf7) compared to base (2e13217).
Patch coverage: 83.34% of modified lines in pull request are covered.

❗ Current head cc2bcf7 differs from pull request most recent head 7bf0513. Consider uploading reports for the commit 7bf0513 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1799      +/-   ##
==========================================
+ Coverage   50.25%   50.29%   +0.05%     
==========================================
  Files         374      374              
  Lines       31275    31287      +12     
==========================================
+ Hits        15713    15734      +21     
+ Misses      15562    15553       -9     

Impacted Files	Coverage Δ
...ry_processing/time_optimal_trajectory_generation.h	100.00% <ø> (ø)
...cessing/src/time_optimal_trajectory_generation.cpp	88.22% <83.34%> (-0.09%)	⬇️
moveit_core/robot_state/src/robot_state.cpp	47.95% <0.00%> (+0.08%)	⬆️
moveit_ros/moveit_servo/src/pose_tracking.cpp	77.58% <0.00%> (+0.47%)	⬆️
moveit_ros/moveit_servo/src/servo_calcs.cpp	67.43% <0.00%> (+1.46%)	⬆️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.

[nbbrooks]

Can we add a unit test for this?

[AndyZe]

I was looking into that but the JointType is protected, so it will take more time than I have right now.

https://github.com/ros-planning/moveit2/blob/ddd50ce124a4f2c6ca67ad9c5738d4f16e718168/moveit_core/robot_model/include/moveit/robot_model/joint_model.h#L473

[henningkayser]

I agree that the path tolerance doesn't really make sense with mixed units. But do we have a good alternative for mixed joints?

[AndyZe]

That's a good point, I can't really think of an alternative. I could change this to just print a warning...

[henningkayser]

thanks!