Update to drake v0.27.0

[agalbachicar]

Just what the title states.

[agalbachicar]

There is no problem with all mali* packages but delphyne should be able to migrate only up to v0.22.0 due to this PR: RobotLocomotion/drake#13889 where the attic is removed and with it several APIs.

In drake v.0.19.0 (just one ahead of the current state), several RigidBody APIs are moved to the attic.

[agalbachicar]

Deprecated APIs used in delphyne:

• drake/multibody/joints/floating_base_types.h
• drake/multibody/parsers/urdf_parser.h
• drake/multibody/rigid_body_plant/create_load_robot_message.h
• drake/multibody/shapes/visual_element.h
• drake/systems/rendering/drake_visualizer_client.h

Which affects files in:

• backend
• systems
• visualization

[scpeters]

I think maliput/delphyne#758 took care of most of the deprecated APIs, except for one more instance of drake/systems/rendering/drake_visualizer_client.h in src/visualization/box_car_vis.cc. The only API in that file is MakeGeometryData() that returns lcmt_viewer_geometry_data.

There is a tantalizing bit of code in geometry/geometry_visualization.cc, which is another function named MakeGeometryData that returns lcmt_viewer_geometry_data. It uses a helper class called ShapeToLcm. Sadly, both ShapeToLcm and MakeGeometryData from that file are not part of a public API. 😢

[scpeters]

I think ToyotaResearchInstitute/delphyne#758 took care of most of the deprecated APIs, except for one more instance of drake/systems/rendering/drake_visualizer_client.h in src/visualization/box_car_vis.cc. The only API in that file is MakeGeometryData() that returns lcmt_viewer_geometry_data.

There is a tantalizing bit of code in geometry/geometry_visualization.cc, which is another function named MakeGeometryData that returns lcmt_viewer_geometry_data. It uses a helper class called ShapeToLcm. Sadly, both ShapeToLcm and MakeGeometryData from that file are not part of a public API. 😢

I'm not sure that we are using the BoxCarVis class anywhere aside from some tests, so one option is to disable that code if it is too difficult to port it.

[agalbachicar]

Thanks @scpeters for the report. I've considered different options and I think the best path forward is to copy the MakeGeometryData() function for boxes as it is proposed in maliput/delphyne#765

I've also created a ticket in delphyne to move BoxCarVis to test utilities --> maliput/delphyne#766

[agalbachicar]

More changes are required:

• scalar_*.h should be renamed to scalar_algebra.h --> trivial conversion.
• ContextBase::FixInputPort(int, std::unique_ptr<T>) is deprecated and flags an error when building. It affects almost all C++ tests. --> deprecation introduced in systems: Use const-ref arguments, not unique_ptr RobotLocomotion/drake#14453

[scpeters]

While reviewing maliput/delphyne#767, I noticed some additional deprecation warnings for passing unique pointers into DeclareAbstractState (also from RobotLocomotion/drake#14453):

src/systems/mobil_planner.cc:54:5: warning: ‘drake::systems::AbstractStateIndex drake::systems::LeafSystem<T>::DeclareAbstractState(std::unique_ptr<drake::AbstractValue>) [with T = double; drake::systems::AbstractStateIndex = drake::TypeSafeIndex<drake::systems::AbstractStateTag>]’ is deprecated: 
DRAKE DEPRECATED: Pass the abstract_state by value, not by-unique-ptr
The deprecated code will be removed from Drake on or after 2021-04-01. [-Wdeprecated-declarations]
     this->DeclareAbstractState(drake::AbstractValue::Make<RoadPosition>(RoadPosition()));
     ^~~~