Feature/expose pilz sampling time

[riv-tnoble]

Description

#3330 aims to add spatial-based trajectory sampling to the pilz planners, but work on it seems to have stopped. Currently, pilz uses a hard-coded 0.1s sampling time which is unsuitable for fast robot motions. I think it'd be worth reviving the referenced PR but, as a quick improvement, this PR exposes the sampling time via a new parameter.

The added parameter defaults to 0.1 to preserve the existing behaviour, and should be extensible to adding spatial parameters in the future. I've also done a bit of renaming of references to the existing cartesian limits parameter in the code for clarity.

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 (Existing tests updated to preserve prior behaviour)
• Include a screenshot if changing a GUI (N/A)
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

❌ Patch coverage is 91.66667% with 6 lines in your changes missing coverage. Please review.
✅ Project coverage is 46.35%. Comparing base (c154f94) to head (473c6ae).

Files with missing lines	Patch %	Lines
...pilz_industrial_motion_planner/test/test_utils.cpp	0.00%	4 Missing ⚠️
...industrial_motion_planner/trajectory_generator.hpp	75.00%	1 Missing ⚠️
...strial_motion_planner/src/trajectory_generator.cpp	83.34%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3710      +/-   ##
==========================================
+ Coverage   46.22%   46.35%   +0.14%     
==========================================
  Files         726      726              
  Lines       59503    59541      +38     
  Branches     7623     7626       +3     
==========================================
+ Hits        27499    27597      +98     
+ Misses      31836    31778      -58     
+ Partials      168      166       -2     

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[riv-tnoble]

The non-humble pipelines appear to be failing for reasons that seem unrelated to these changes. @nbbrooks are these known issues? (Sorry to ping you randomly. Noticed you were looking at Qt6 stuff)

Rolling

  CMake Error at /opt/ros/rolling/share/rviz_default_plugins/cmake/rviz_default_pluginsExport.cmake:61 (set_target_properties):
    The link interface of target "rviz_default_plugins::rviz_default_plugins"
    contains:
  
      Qt6::Widgets
  
    but the target was not found.  Possible reasons include:
  
      * There is a typo in the target name.
      * A find_package call is missing for an IMPORTED target.
      * An ALIAS target is missing.
  
  Call Stack (most recent call first):
    /opt/ros/rolling/share/rviz_default_plugins/cmake/ament_cmake_export_targets-extras.cmake:9 (include)
    /opt/ros/rolling/share/rviz_default_plugins/cmake/rviz_default_pluginsConfig.cmake:41 (include)
    CMakeLists.txt:34 (find_package)

Jazzy

build/moveit_servo/test_results/moveit_servo/tests_launch_servo_ros_integration.test.py.xunit.xml: 2 tests, 0 errors, 1 failure, 0 skipped
- moveit_servo.TestGTestProcessPostShutdown test_gtest_pass
  <<< failure message
    Traceback (most recent call last):
      File "/home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/moveit_servo/tests/launch/servo_ros_integration.test.py", line 166, in test_gtest_pass
        launch_testing.asserts.assertExitCodes(proc_info, process=servo_gtest)
      File "/opt/ros/jazzy/lib/python3.12/site-packages/launch_testing/asserts/assert_exit_codes.py", line 62, in assertExitCodes
        assert info.returncode in allowable_exit_codes, 'Proc {} exited with code {}'.format(
               ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    AssertionError: Proc moveit_servo_ros_integration_test-6 exited with code 1
  >>>

Tutorial

Error: buildx failed with: ERROR: failed to build: failed to solve: process "/bin/sh -c sh -c 'echo \"deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main\" > /etc/apt/sources.list.d/gazebo-stable.list' &&         wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add - &&         sudo apt update &&         sudo apt-get install -y \"gz-${GZ_VERSION}\" &&         PATH=/usr/lib/ccache:$PATH &&         git clone https://github.com/moveit/moveit2_tutorials src/moveit2_tutorials &&         vcs import --skip-existing src < src/moveit2_tutorials/moveit2_tutorials.repos &&         . \"/opt/ros/${ROS_DISTRO}/setup.sh\" &&        apt-get -q update &&         rosdep update &&         DEBIAN_FRONTEND=noninteractive         rosdep install -y --from-paths src --ignore-src --rosdistro ${ROS_DISTRO} --as-root=apt:false &&         rm -rf /var/lib/apt/lists/* &&         colcon build         --cmake-args \"-DCMAKE_BUILD_TYPE=Release -DBUILD_TESTING=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON --no-warn-unused-cli\"         --ament-cmake-args -DCMAKE_BUILD_TYPE=Release         --event-handlers desktop_notification- status- &&         ccache -s &&         sed -i \"s#/opt/ros/\\$ROS_DISTRO/setup.bash#$ROS_UNDERLAY/setup.sh#g\" /ros_entrypoint.sh" did not complete successfully: exit code: 1

[nbbrooks]

I see you merged in the latest main changes for Qt6, let me retrigger the job again and see what happens.

[riv-tnoble]

@nbbrooks Would you be fine with running the pipelines again on this PR? I can't imagine any of the changes would be causing the tutorial build to fail.

[nbbrooks]

The tutorial job failing is unfortunately expected right now. I misread your message and restarted the other jobs.