[Don’t Merge] Sync with MoveIt1

[afrixs]

Description

Syncing the following commits

* [2022-09-09][b3b363f7b] | Limit Cartesian speed for link(s) (#2856) {{Michael Görner}}
* [2022-09-09][87038c3e2] | Update panda_moveit_config to noetic-devel in .rosinstall files {{Robert Haschke}}
* [2022-09-09][dadd5063e] | MSA templates: replace hard-coded package name {{Robert Haschke}}
* [2022-09-09][63660ef21] | Merge PR #3093: extended ACM editing in MSA {{Robert Haschke}}
* [2022-09-09][1245f1513] | Merge PR #3197: Improve computeCartesianPath() {{Robert Haschke}}

Note: Since structure of MSA has changed in MoveIt2, I had to guess a correct placement of methods which work with SRDFWriter. I moved them into moveit_setup::srdf_setup::DefaultCollisions.

Also I had to re-add trajectory_processing::updateTrajectory method which had resided (in moveit1) in a deprecated and deleted trajectory_processing::IterativeParabolicTimeParametrization but is used by LimitMaxCartesianLinkSpeed planning adapter. The new placement for the method is in trajectory_tools.h

Note: a sync PR must be merged into moveit_msgs as well to make this build. I'll create it tomorrow as soon as I get write access to our company's fork. Edited: the PR already exists: moveit/moveit_msgs#159

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[afrixs]

friendly ping

[Abishalini]

Thank you for your efforts. I am reviewing this. In the meantime, can you rebase your PR with main?

We prefer not using the Update Branch button on the web UI so that the following commits don't pollute the git log when this is merged to main

[afrixs]

@Abishalini thank you for reviewing.

In the meantime, can you rebase your PR with main?

I think I'll need your help here... I removed the Update branch commits by force-pushing my previous commit, but I have problems with the rebase part. Could you please add command-by-command instructions on how to do it? I don't know all the techniques that can be used to achieve something in git/github, but what I tried resulted just in a long manual merging process (the Moveit1 sync had many conflicts, as ACM structure has totally changed in Moveit2), which is temporally impossible to do every few days when the main branch updates:

• Doing the rebase by this guide reintroduces all the conflicts I have already resolved and totally leaves out my merge commits (175bc04 and da36544).
• Moveit2 syncing guide says I shouldn't rebase at all, but I should repeat the whole sync process and resolve conflicts "easily by checking out the changes from the outdated sync branch". But I can't imagine a way of checking out (or somehow merging) changes from a different branch during an unresolved merge. Also, the new sync process would need a new branch, which means a new PR with all the waiting/approval/etc. included

[Abishalini]

Hi @afrixs ,
I apologize for the delay in the review.
To rebase with main and preserve the commits from MoveIt1

git checkout main
git pull origin main
git checkout <sync-branch>
git reset --hard main
git merge b3b363f7b

Unfortunately, this would require you to resolve all the merge conflicts again.

You could also create a clone of this branch

git checkout <sync-branch>
git checkout -b <sync-branch-clone>
### Go through all the commands listed in the block above
git checkout <sync-branch-clone> <file-name-which-has-merge-conflicts>

This way you can easily transfer your work and need not manually fix every conflict.

This review took more time since the changes are not trivial. Once this PR is close to ready, we will make sure not to merge any other PRs in the meantime so that this PR does not need to be rebased again.

[mergify]

This pull request is in conflict. Could you fix it @afrixs?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mergify]

This pull request is in conflict. Could you fix it @afrixs?