Add vel and acc scaling to computeCartesianPath in Humble

[liamcarlos]

Hi there,

I updated to Iron to get this capability but noticed Iron's EOL is Friday, so I thought I'd suggest this change for Humble since it has another couple years to EOL

Description

Please explain the changes you made, including a reference to the related issue if applicable

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

[mergify]

Please target the main branch for development, we will backport the changes to humble for you if approved and if they don't break API.

[rhaschke]

I don't think, computeCartesianPath handles timing at all. It just computes path waypoints. Hence, forwarding the scaling factors does not change anything.
Did you observe any change?

[mikeferguson]

This appears to be a back port of #1968? But maybe is missing a line from that PR? And also depends on changes to moveit_msgs that haven't been back ported to humble either AFAICT?

[mergify]

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

[liamcarlos]

@rhaschke It does, I tested it with a UR10e in Iron. Those lines just seem to be missing from the Humble branch.. Also should I switch base back to humble branch? The bot threw me off..

[mergify]

Please target the main branch for development, we will backport the changes to humble for you if approved and if they don't break API.

[rhaschke]

As pointed out in #3048 (comment), your PR is missing another line from #1968. Moreover, the corresponding message fields are missing. Probably, those API changes are the reason, why this PR wasn't backported to Humble.

[liamcarlos]

@rhaschke Yes I noticed that, I'm making that change right now! Thanks @mikeferguson !

Also found the srv file(GetCartesianPath.srv) that is missing those request fields. It's missing some other fields i.e. cartesian_speed_limited_link and max_cartesian_speed, but I don't know where those are being used.. I really just want to add velocity and acceleration control to the Humble branch since it will having longer support.