Update msg format to support ROS Iron

[Apurv354]

There has been an update in the msg format of moveit_msgs mentioned in the CHANGELOG 0.11.3 (2022-09-13) link
It seems like the update in moveit_msgs was not included in the moveit releases until the iron release.
This was causing an error with iron and the current rolling version of moveit:

no member name found cartesian_speed_end_effector_link

I have tested the PR my local and it now works fine in both iron and rolling after updating the msg format.

Given that it seems that the main branch of pymoveit2 is targeting humble, maybe this should be a part of your new release 3.2.0?

[AndrejOrsula]

Thank you very much for bringing this to my attention!
I have not tried using iron yet. Are you aware of any other breaking changes?

If not, I would try to minimize the effect of this change on the users and simply check if the attribute can be changed.

[AndrejOrsula]

If there are no other breaking changes, I would suggest the following logic in order to minimize the impact on users (NOT TESTED).

Suggested change

	move_action_goal.request.cartesian_speed_limited_link = end_effector
	# Note: Attribute was renamed in Iron (https://github.com/ros-planning/moveit_msgs/pull/130)
	if hasattr(move_action_goal.request, "cartesian_speed_limited_link"):
	move_action_goal.request.cartesian_speed_limited_link = end_effector
	else:
	move_action_goal.request.cartesian_speed_end_effector_link = end_effector

[AndrejOrsula]

Thank you again for your contribution! I will go ahead and merge it into a separate branch first, where I will apply the suggestions from above before merging it into devel.