Port warehouse part of moveit benchmarks to ROS2

[RoboticsYY]

Description

This PR intends to make moveit_ros_benchmarks work with warehouse on ROS2.

• Run benchmarks without warehouse

ros2 launch moveit_ros_benchmarks demo_panda_predefined_poses.launch.py

• Run benchmarks with warehouse
  • Bring up motion planning rviz plugin

    ros2 launch run_move_group run_move_group.launch.py

  • Follow the methods in benchmark tutorial to save the planning scene and robot states
  • Run benchmark program

    ros2 launch moveit_ros_benchmarks demo_panda.launch.py

• The output will be a KitchenPick1*.log file in /tmp//tmp/moveit_benchmarks
• Visualize the output:

ros2 run moveit_ros_benchmarks moveit_benchmark_statistics.py -p <name of pdf file> <path of log file>

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

[codecov]

Codecov Report

Merging #301 into main will not change coverage.
The diff coverage is n/a.

@@           Coverage Diff           @@
##             main     #301   +/-   ##
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  Coverage   47.64%   47.64%           
=======================================
  Files         154      154           
  Lines       14844    14844           
=======================================
  Hits         7073     7073           
  Misses       7771     7771           

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[henningkayser]

@RoboticsYY flawless imo, what is still WIP in your opinion?

[RoboticsYY]

@RoboticsYY flawless imo, what is still WIP in your opinion?

I haven't ported the launch files and tested them. But I think there will be no big problem, because the warehouse part doesn't involve much of ROS.