[main] Port CHOMP to MoveIt2

[andreas-botbuilt]

Description

This PR makes CHOMP available in MoveIt2. CHOMP can be used as a stand-alone motion planner plugin (instead of OMPL) or as a post-processor for OMPL (where the seed trajectory for CHOMP is the output of OMPL).

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

Changes

• CHOMP parameters are loaded from the namespace "chomp"
• As suggested by @henningkayser in PR 805, changes are made against main

[henningkayser]

This looks really good so far, thanks a lot again for your work. I have left some minor fixes that should be addressed before merging, but otherwise I think this is good to go. Before merging: on what robot have you tested this (if anything else than the Panda)? I'm going to give this a couple runs and see if I find any issues.
I also noticed that there is still a bunch of commented code in this package (the parts not from you). I'm inclined to review these and simply remove commented code if it doesn't seem useful. Most of it seems to be related to profiling and debugging. Since you apparently use CHOMP currently for your project, feel free to re-enable and modify what you find or make suggestions for cleanup.

[andreas-botbuilt]

Thanks again for your review! It has been tested on a 6-DOF industrial robot arm and there have been no issues. I'm not using or planing to use the commented code at the moment so I agree that the profiling/debugging parts can be removed. However, it seems that the Hamiltonian Monte Carlo method has never been thoroughly tested (see this comment), so I would suggest to make that a github issue to be fixed in the future.

[henningkayser]

All right, to me this looks ready to get merged. @tylerjw or @JafarAbdi could either of you give this a quick review for the second approval?

[codecov]

Codecov Report

Merging #809 (2ba651a) into main (77075f5) will decrease coverage by 0.02%.
The diff coverage is n/a.

@@            Coverage Diff             @@
##             main     #809      +/-   ##
==========================================
- Coverage   56.69%   56.67%   -0.01%     
==========================================
  Files         200      200              
  Lines       21660    21660              
==========================================
- Hits        12277    12274       -3     
- Misses       9383     9386       +3     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	74.82% <0.00%> (-1.11%)	⬇️

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[andreas-botbuilt]

Looks like I accidentally merged main into this, not sure if this was necessary.

[JafarAbdi]

Thanks for the port, just left a few comments then I think it's ready to be merged

[JafarAbdi]

Just curious, there are a few reordering of include files and adding/removing black lines, any reason for that ?

[andreas-botbuilt]

Just curious, there are a few reordering of include files and adding/removing black lines, any reason for that ?

No reason. I'm not exactly sure what caused this, maybe some code formatting tool I used. If you prefer a specific ordering, let me know.

[JafarAbdi]

@andreas-botbuilt I open a PR to fix very nit stuff, could you please review it ? thanks

[JafarAbdi]

Sorry I forgot to run clang-format, do you mind fixing it? thanks!

[mergify]

This pull request is in conflict. Could you fix it @andreas-botbuilt?

[henningkayser]

lgtm