WIP: [feature] Simulation launchfile for panda spacenav servo teleop

[tylerjw]

Description

This change makes it easy to launch spacenav teleop of a panda in rviz using servo. I wrote this because I wanted an easy button for debugging an issue I discovered with parameters and wanted to be able to launch servo and verify it was working as intended and all parameters were loaded correctly.

This does add a parameter to the servo_server node for enabling providing a planning scene service (which is needed for rviz). The way I did it will cause a warning for people who haven't set this parameter to tell them about a new default value that was set (false).

Checklist

• [x] Required by CI: Code is auto formatted using clang-format
• [ ] Extend the tutorials / documentation reference
• [x] While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov[bot]]

Codecov Report

Merging #2439 (321e2d6) into master (bdd4bde) will decrease coverage by 0.02%. The diff coverage is n/a.

@@            Coverage Diff             @@
##           master    #2439      +/-   ##
==========================================
- Coverage   60.24%   60.23%   -0.01%     
==========================================
  Files         351      351              
  Lines       26435    26435              
==========================================
- Hits        15923    15920       -3     
- Misses      10512    10515       +3     

Impacted Files	Coverage Δ
.../ompl_interface/src/detail/constrained_sampler.cpp	42.86% <0.00%> (-17.14%)	:arrow_down:
...raint_samplers/src/default_constraint_samplers.cpp	81.53% <0.00%> (-0.36%)	:arrow_down:
...nning_scene_monitor/src/planning_scene_monitor.cpp	68.16% <0.00%> (+0.48%)	:arrow_up:
...ipulation/pick_place/src/manipulation_pipeline.cpp	73.41% <0.00%> (+1.07%)	:arrow_up:

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[AndyZe]

We probably should switch the tutorial over to the Panda (since the moveit config is readily available) and drop the UR config file. Maybe I could do that this weekend.

[tylerjw]

We probably should switch the tutorial over to the Panda (since the moveit config is readily available) and drop the UR config file. Maybe I could do that this weekend.

If we do that you could just use this PR's launch file to make it easy for someone to start trying to use servo right away.

I plan on contributing a back-port of adams xbox controller support too which could be called out in the tutorial as an easy way to try servo.

[AndyZe]

I plan on contributing a back-port of adams xbox controller support too which could be called out in the tutorial as an easy way to try servo.

All you need for that is a config file (see spacenav_via_teleop_tools.yaml)

[davetcoleman]

@tylerjw is this WIP? Can you update the title as such?

[AdamPettinger]

I plan on contributing a back-port of adams xbox controller support too which could be called out in the tutorial as an easy way to try servo.

All you need for that is a config file (see spacenav_via_teleop_tools.yaml)

I think updating away from the UR5 demos that require 4 different launch files with intermediate steps is a good thing. The xbox controller example should be easy enough to back-port, but an xbox controller through teleop_tools might be better going forward.

One more alternative: I was looking at porting the Servo tutorial to ROS2, and for that PR (https://github.com/ros-planning/moveit2_tutorials/pull/89) wrote a quick TwistStamped publisher from the keyboard (like the turtlesim ROS tutorial) to move the Panda around with just a keyboard