[main] Add option to disable Octomap in Rviz Rendering Tools

[AdamPettinger]

Description

I was trying to use the PlanningScene Rviz display to show known collision objects, but NOT the octomap. To my knowledge, there was no way to have both. This PR adds an option to disable visualizing the octomap (see image)

How to test

The easiest way I found to test is to use Universal_Robots_ROS2_Driver and a recorded bag file I took of the planning scene. That link should allow you to download the bag file

To set it up:

sudo apt update
sudo apt install ros-rolling-object-recognition-msgs ros-rolling-control-toolbox
cd $COLCON_WS/src #some workspace with moveit2 built
git clone https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver.git
vcs import --skip-existing --input Universal_Robots_ROS2_Driver/Universal_Robots_ROS2_Driver.repos
rosdep install -r --from-paths . --ignore-src --rosdistro $ROS_DISTRO -y
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release

Now in 3 terminals:

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur5e robot_ip:=yyy.yyy.yyy.yyy use_fake_hardware:=true launch_rviz:=false

ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur5e robot_ip:="xxx.xxx" use_fake_hardware:=true launch_rviz:=true

ros2 bag play octomap_viz_test/octomap_viz_test_0.db3

Under MotionPlanning -> Scene Geometry -> Voxel Rendering, try switching the type from the drop down menu. "Disabled" will ... disable the octomap

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 #606 (a0bbdb1) into main (691e3ee) will increase coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #606      +/-   ##
==========================================
+ Coverage   53.96%   53.98%   +0.02%     
==========================================
  Files         190      190              
  Lines       20002    20002              
==========================================
+ Hits        10793    10796       +3     
+ Misses       9209     9206       -3     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	75.85% <0.00%> (+1.14%)	⬆️

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[JafarAbdi]

LGTM