Port moveit_core/utils to ROS 2

[vmayoral]

Initial iteration was made on a different "master" status

[vmayoral]

See #62 (comment)

[henningkayser]

The changes look good! I would only vote to remove xmlrpc_casts.cpp completely as explained below.

[henningkayser]

I think xmlrpc_casts.cpp will not be used anymore since XML-RPC is not supported in ROS 2.
parseDouble() and isArray() should be redundant in the future but we have to check whereisStruct() is used and if we need to reimplement it somehow.
Let's remove xmlrpc_casts.cpp and add TODOs everywhere where it is used.
These parts will need to be changed anyway since the same missing XML-RPC dependencies are used.

[ahcorde]

@henningkayser can you review it?

[ahcorde]

@henningkayser friendly ping

[henningkayser]

@ahcorde removing these files won't be enough since the functionality needs to be reimplemented eventually. Those files that xmlrpc_casts.h will fail to compile which is just terrible to debug and could slow down the port.

• moveit_plugins/moveit_simple_controller_manager/src/follow_joint_trajectory_controller_handle.cpp
• moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp
• moveit_core/kinetmatic_constraints/src/utils.cpp

Please fix related includes and add a descriptions and TODOs for all function calls that need to be replaced somehow. We should keep a list of all those references, either in a new issue or maybe inside the CMakeLists.txt of the utils package. Ideally we would replace the implementation right now but I believe that we still need to have some further discussions on how we handle parameter config files.

[ahcorde]

we decided to remove xmlrpc because in ROS 2 is not used anymore. This concept of getting parameters with xmlrpc has disappeared. There are new ways the get parameters though ROS 2 and DDS.

We have replaced all these calls in the code with the corresponding new ROS 2.0 code. I think it's better to discuss if we can include new abstractions for getting parameters than maintaining this old ROS code.

[henningkayser]

we decided to remove xmlrpc because in ROS 2 is not used anymore. This concept of getting parameters with xmlrpc has disappeared. There are new ways the get parameters though ROS 2 and DDS.

Yes, that's why I suggested to remove xmlrpc_casts.cpp.

We have replaced all these calls in the code with the corresponding new ROS 2.0 code. I think it's better to discuss if we can include new abstractions for getting parameters than maintaining this old ROS code.

I wasn't aware that this was already implemented. Is it still under review? If yes I would suggest adding related descriptions and would +1 this PR

[ahcorde]

You can open this (huge) PR and have a look to moveit_planners/ompl/ompl_interface/src/ompl_interface.cpp. You will see the changes.

Most of these changes are still pending of been ported. But You will find a TODO (anasarrak) or (ahcorde). The parameters which were ported are the most relevant.

[mlautman]

One small question. +1 after the comment has been resolved