[hybrid planning] Delete the pass-through option

[AndyZe]

Delete this parameter. On two different projects I have tried, setting pass_through = true has caused the robot to get stuck. I think that's because here in forwardTrajectory::solve():

robot_command.addSuffixWayPoint(local_trajectory.getWayPoint(0), 0.0);

Waypoint index 0 is always used.

Video of enabling pass_through for the demo. The robot gets stuck and the global planner runs repeatedly.

This work is sponsored by RE2 Robotics.

[AndyZe]

@sjahr

[codecov]

Codecov Report

Merging #986 (9a04492) into main (abbd8ff) will decrease coverage by 0.03%.
The diff coverage is 7.70%.

@@            Coverage Diff             @@
##             main     #986      +/-   ##
==========================================
- Coverage   57.99%   57.97%   -0.02%     
==========================================
  Files         309      309              
  Lines       26120    26119       -1     
==========================================
- Hits        15146    15140       -6     
- Misses      10974    10979       +5     

Impacted Files	Coverage Δ
..._planner_component/src/local_planner_component.cpp	32.88% <0.00%> (-0.22%)	⬇️
...oveit/trajectory_operator_plugins/simple_sampler.h	100.00% <ø> (ø)
...trajectory_operator_plugins/src/simple_sampler.cpp	17.86% <10.00%> (-5.47%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	74.82% <0.00%> (-1.11%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	53.78% <0.00%> (-0.11%)	⬇️

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[vatanaksoytezer]

Seems like only clang-tidy is failing:

clang_tidy_check_moveit_hybrid_planning
  Filtering for files that actually changed since main
  run clang-tidy for 1/9 file(s) in 2 process(es).
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:47:63: warning: parameter 'node' is unused [misc-unused-parameters]
  bool SimpleSampler::initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
                                                                ^~~~
                                                                 /*node*/
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:47:63: note: FIX-IT applied suggested code changes
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:104:77: warning: parameter 'current_state' is unused [misc-unused-parameters]
  double SimpleSampler::getTrajectoryProgress(const moveit::core::RobotState& current_state)
                                                                              ^~~~~~~~~~~~~
                                                                               /*current_state*/
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:104:77: note: FIX-IT applied suggested code changes
  clang-tidy applied 2 of 2 suggested fixes.
  Suppressed 15185 warnings (15185 in non-user code).

[tylerjw]

Seems like only clang-tidy is failing:

clang_tidy_check_moveit_hybrid_planning
  Filtering for files that actually changed since main
  run clang-tidy for 1/9 file(s) in 2 process(es).
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:47:63: warning: parameter 'node' is unused [misc-unused-parameters]
  bool SimpleSampler::initialize(const rclcpp::Node::SharedPtr& node, const moveit::core::RobotModelConstPtr& robot_model,
                                                                ^~~~
                                                                 /*node*/
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:47:63: note: FIX-IT applied suggested code changes
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:104:77: warning: parameter 'current_state' is unused [misc-unused-parameters]
  double SimpleSampler::getTrajectoryProgress(const moveit::core::RobotState& current_state)
                                                                              ^~~~~~~~~~~~~
                                                                               /*current_state*/
  /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/hybrid_planning/local_planner/trajectory_operator_plugins/src/simple_sampler.cpp:104:77: note: FIX-IT applied suggested code changes
  clang-tidy applied 2 of 2 suggested fixes.
  Suppressed 15185 warnings (15185 in non-user code).

You should be able to quiet those warnings by telling the compiler that those parameters are not used. See: https://en.cppreference.com/w/cpp/language/attributes/maybe_unused

[tylerjw]

Just a couple of questions, otherwise this looks good.

[mergify]

This pull request is in conflict. Could you fix it @AndyZe?