Fix SolidPrimitive.msg to contain a single Polygon

[xmfcx]

Follow up from #167

In my previous PR I was supposed to add a single geometry_msgs::msg::Polygon to the message but I've added an array of it by mistake 🤦‍♂️

It's even a part of humble now :(

This PR fixes it.

[xmfcx]

@clalancette the ABI won't be compatible but is it possible to include this fix in humble since it came out relatively new?

The worst case scenario I will add a comment line on the old message as a back-port clarification. Something like // Only add a single polygon here.

[clalancette]

@clalancette the ABI won't be compatible but is it possible to include this fix in humble since it came out relatively new?

Today is the last possible moment to do this. I'm very much scared of doing this, but we'll discuss it internally and see what we want to do here.

[xmfcx]

Today is the last possible moment to do this. I'm very much scared of doing this, but we'll discuss it internally and see what we want to do here.

I see, I am so sorry 🙇‍♂️ for making this mistake and realizing it too late. Thank you so much for helping.

[clalancette]

CI:

• Linux
• Linux-aarch64
• Windows

[clalancette]

Besides the CI, I also went through all of the packages released into Humble to see which ones could potentially be broken by this. It's actually a fairly short list of packages that use the SolidPrimitives message, the list looks to be:

• geometric_shapes
• moveit_core
• moveit_ros
• moveit_commander
• ompl
• moveit_msgs
• moveit_visual_tools
• rc_reason_clients
• rc_reason_msgs
• rosbridge_suite

I went through and looked at all of the uses here, and none of them seem to use the polygon or PRISM type. I also went ahead and built all of them locally with this patch applied, so I think we are OK to go forward with this. Still waiting on CI to finish, then we'll backport and release.

[audrow]

@Mergifyio backport humble

[mergify]

backport humble

✅ Backports have been created

• #191 Fix SolidPrimitive.msg to contain a single Polygon (backport #189) has been created for branch humble