Pilz examples and update to ROS2

[sea-bass]

Description

This PR updates the Pilz industrial motion planner example doc, but also adds two actual examples that show Pilz with MoveGroup Interface and MoveIt Task constructor.

Checklist

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Closes #35

[sjahr]

Nice work! Everything worked and I like the examples you're providing. My comments are mostly Nit's

Running the examples works fine for me, but I receive this error message when I run
ros2 run moveit2_tutorials pilz_move_group:

[ERROR] [1669380334.983363669] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983375070] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983401520] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983407822] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983417431] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983420266] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983423983] [moveit_ros.robot_model_loader]: Kinematics solver could not be instantiated for joint group hand.
[ERROR] [1669380334.983717360] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983725866] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983739692] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983743419] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983751284] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983753769] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983756654] [moveit_ros.robot_model_loader]: Kinematics solver could not be instantiated for joint group panda_arm_hand.

It does not seem to prevent the demo from working and doesn't happen with the mtc demo. Does that happen to you too?

[stephanie-eng]

These isn't from a line that you changed, but I'd appreciate if you added some missing punctuation. Unfortunately, I can't make a suggestion on lines you didn't change, so I've copied the text out below, and put the changes in code quote format

1. Note that while setting position limits and velocity limits is possible in both the URDF and the parameter server, setting acceleration limits is only possible via the parameter server.

2. In extension to the common has_acceleration and max_acceleration parameters, we added the ability to also set has_deceleration and max_deceleration (<0.0).

3. Currently, the calculated trajectory will respect the limits by using the strictest combination of all limits as a common limit for all joints.

4. This planner generates fully synchronized, point-to-point trajectories with trapezoidal joint velocity profiles.

5. start_state/joint_state/(name, position and velocity): joint name/position/velocity (optional) of the start state.

6. goal_constraints: (goal can be given in joint space or Cartesian space)

7. Remove the bold on:

• for a goal in joint space
• for a goal in Cartesian space

8. The planning result is a joint trajectory.

9. In analogy to the MoveGroup action interface, the user can plan and execute a moveit_msgs::MotionSequenceRequest through the action server at /sequence_move_group.

[sea-bass]

Running the examples works fine for me, but I receive this error message when I run ros2 run moveit2_tutorials pilz_move_group:

[ERROR] [1669380334.983363669] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983375070] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983401520] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983407822] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983417431] [moveit_kinematics_base.kinematics_base]: Group 'hand' is not a chain
[ERROR] [1669380334.983420266] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'hand'
[ERROR] [1669380334.983423983] [moveit_ros.robot_model_loader]: Kinematics solver could not be instantiated for joint group hand.
[ERROR] [1669380334.983717360] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983725866] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983739692] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983743419] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983751284] [moveit_kinematics_base.kinematics_base]: Group 'panda_arm_hand' is not a chain
[ERROR] [1669380334.983753769] [kinematics_plugin_loader]: Kinematics solver of type 'kdl_kinematics_plugin/KDLKinematicsPlugin' could not be initialized for group 'panda_arm_hand'
[ERROR] [1669380334.983756654] [moveit_ros.robot_model_loader]: Kinematics solver could not be instantiated for joint group panda_arm_hand.

It does not seem to prevent the demo from working and doesn't happen with the mtc demo. Does that happen to you too?

The same thing happens with the regular tutorial, e.g. if you run,

ros2 run moveit2_tutorials move_group_interface_tutorial 

So it's not unique to this example. It's an error that happens from trying to load the KDL Kinematics plugin for all available move groups.

[sjahr]

Looks good!