Add octomap and visualizations to moveit and rviz.

[Jelmerdw]

Description

This PR extends functions for the control of the arm, in preparation of grasping:

• One can create an octomap for MoveIt and visualize in RViz.
• One can visualize a grasp pose in Rviz.
• One can create, visualize and execute a plan for an end-effector pose as separate steps.
• One can control all actions mentioned using a simple ui, created with Python's nicegui package.

Fixes: #222, #278

Testing

You can test all actions by starting the franka_planning configuration in one terminal:

ros2 launch rcdt_launch robots.launch.py configuration:=franka_planning

and the simple ui in a second terminal:

ros2 run rcdt_utilities simple_gui.py --ros-args -p namespace:=franka1

You should be able to perform all actions in the browser on http://localhost:8080.

Documentation

• I have updated the documentation (if necessary)

Additional Notes

Any relevant screenshots, logs, or context.

[geurto]

Is this done just to ensure that the Octomap is not run all the time? Is there no way to disable/pause the Octomap generation more directly? Or does the third-party code not support that?

[Jelmerdw]

Indeed. I couldn't find a way to enable or disable. Also see:
moveit/moveit#1728

The only suggested solution is to enable/disable by passing the camera output to a topic (or not). I first tried this with a subscriber/publisher, but this results in delays due to serialization. Therefore I now start the topic_tools relay process to do this without serialization.

[geurto]

When running the robots.launch.py as indicated above, I get

[gz-4] [Err] [Physics.cc:1785] Attempting to create a mimic constraint for joint [fr3_finger_joint2] but the chosen physics engine does not support mimic constraints, so no constraint will be created.
[...]
[gz-4] [Err] [Ogre2MeshFactory.cc:595] Cannot load mesh with zero sub-meshes
[gz-4] [Err] [Ogre2MeshFactory.cc:124] Failed to get Ogre item for [/home/rcdt/rcdt_robotics/ros2_ws/install/rcdt_gazebo/share/rcdt_gazebo/models/basket/resources/basket.obj]
[gz-4] [Err] [SceneManager.cc:426] Failed to load geometry for visual: visual
[gz-4] [Err] [Ogre2MeshFactory.cc:595] Cannot load mesh with zero sub-meshes
[gz-4] [Err] [Ogre2MeshFactory.cc:124] Failed to get Ogre item for [/home/rcdt/rcdt_robotics/ros2_ws/install/rcdt_gazebo/share/rcdt_gazebo/models/brick/resources/baksteen.obj]
[gz-4] [Err] [SceneManager.cc:426] Failed to load geometry for visual: visual

And the simple_gui gives a "No executable found".