Put hybrid planning actions under a common namespace

[AndyZe]

This groups the hybrid planning action names together so they are easy to find, for example, with ros2 action list.

We're starting to use hybrid planning with a dual arm setup, so cleaning up the interface is becoming more important to me.

Test with the usual hybrid planning demo:

ros2 launch moveit_hybrid_planning hybrid_planning_demo.launch.py

[codecov]

Codecov Report

Merging #932 (7919f4b) into main (71d6e36) will decrease coverage by 0.02%.
The diff coverage is 71.43%.

@@            Coverage Diff             @@
##             main     #932      +/-   ##
==========================================
- Coverage   57.91%   57.90%   -0.01%     
==========================================
  Files         310      310              
  Lines       26069    26091      +22     
==========================================
+ Hits        15095    15105      +10     
- Misses      10974    10986      +12     

Impacted Files	Coverage Δ
..._manager_component/src/hybrid_planning_manager.cpp	24.05% <68.43%> (+3.22%)	⬆️
...planner_component/src/global_planner_component.cpp	42.00% <71.43%> (+3.37%)	⬆️
...ude/moveit/local_planner/local_planner_component.h	83.34% <100.00%> (+0.73%)	⬆️
..._planner_component/src/local_planner_component.cpp	33.11% <100.00%> (ø)
...ma_kinematics_plugin/src/lma_kinematics_plugin.cpp	72.91% <0.00%> (-3.87%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	53.19% <0.00%> (-0.11%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	75.93% <0.00%> (+1.12%)	⬆️

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[henningkayser]

Makes a lot of sense to use a common namespace here. Using private topics like suggested in the comment is really an option that we should consider, but not strictly necessary here

[JafarAbdi]

GLOBAL_PLANNING_ACTION_NAME, LOCAL_PLANNING_ACTION_NAME, and RUN_HYBRID_PLANNING_ACTION_NAME are being duplicated in different files, should we move them to a new header file and include that file ?

[henningkayser]

GLOBAL_PLANNING_ACTION_NAME, LOCAL_PLANNING_ACTION_NAME, and RUN_HYBRID_PLANNING_ACTION_NAME are being duplicated in different files, should we move them to a new header file and include that file ?

that would make a lot of sense

[AndyZe]

Where would you suggest putting that header file? It doesn't belong in any of the folders that exist right now: global_planner, hybrid_planning_manager, or local_planner

[henningkayser]

Where would you suggest putting that header file? It doesn't belong in any of the folders that exist right now: global_planner, hybrid_planning_manager, or local_planner

good question, the directory structure doesn't really allow common resources. Thinking about this more, it could make sense to move the directories into top-level src and include and move common headers into include. Here, the only alternative I see is to add a new subdirectory for the same purpose

[AndyZe]

OK, I put the namespace stuff in a common header file. I find the ~ does not work, though. However, everything works if I delete the ~.

namespace moveit::hybrid_planning
{
namespace
{
constexpr char GLOBAL_PLANNING_ACTION_NAME[] = "~/hybrid_planning/global_planning_action";
constexpr char LOCAL_PLANNING_ACTION_NAME[] = "~/hybrid_planning/local_planning_action";
constexpr char RUN_HYBRID_PLANNING_ACTION_NAME[] = "~/hybrid_planning/run_hybrid_planning";
}  // namespace
}  // namespace moveit::hybrid_planning

[AndyZe]

The ~ causes this: (ros2 action list)

/global_planner/hybrid_planning/global_planning_action
/hybrid_planning_demo_node/hybrid_planning/run_hybrid_planning
/hybrid_planning_manager/hybrid_planning/local_planning_action
/local_planner/hybrid_planning/local_planning_action

So I'm going to suggest we pass an action_namespace parameter from the launch files.

[AndyZe]

OK, I moved the action name parameters to a common config file. I think this is nice, it fits well with the other config files that already exist:

global_planner.yaml
local_planner.yaml
hybrid_planning_manager.yaml
common_hybrid_planning_params.yaml --> the new one