Plugin implementations should be moved out of moveit_core

[tylerjw]

It would greatly simplify moveit_core if it was built as a single library instead of many small libraries linked together. One of the problems with this is that several plugins (not just plugin interfaces) are part of the moveit_core package. This got in the way of refactoring the build scripts for moveit_core into a single library, see #1801

Here is a directory for packages that contain moveit_plugins: https://github.com/ros-planning/moveit2/tree/main/moveit_plugins

Tasks:

• Migrate collision_detection::CollisionDetectorBtPluginLoader from moveit_core into moveit_plugins.
• Migrate collision_detection::CollisionDetectorFCLPluginLoader from moveit_core into moveit_plugins.
• Migrate online_signal_smoothing::ButterworthFilterPlugin from moveit_core into moveit_plugins.
• Update moveit_plugins package.xml to depend on these new plugins.
• Search for any tests that previously depended on moveit_core for these plugins and update them to depend on their new packages.
• Be happy!

I'd be happy to mentor doing this project.

[sameergupta4873]

@tylerjw can i take this issue ?

[AndyZe]

Sorry, I think @ChrisThrasher is already working on it :/

[ChrisThrasher]

I am. It's turning out to be a really complicated problem given how parts of moveit_core depend on parts of these plugins.

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[ChrisThrasher]

I currently have no plans on coming back to this problem. My first attempt was fraught with issues due to moveit_core's complicated internal dependency graph. So long as major parts of moveit_core depend on aspects of these plugins then this refactor will be tricky.

[tylerjw]

I'm becoming annoyed with this stale bot thing because these issues are less relevant to the project just because we don't have any new status on them.