End-of-2020 version

[alex-mitrevski]

This PR adds all new features developed and bug fixes made during the year:

• Actions for human-robot object hand over (https://github.com/b-it-bots/mas_domestic_robotics/pull/227) and robot-human object hand over (https://github.com/b-it-bots/mas_domestic_robotics/pull/244)
• New scenarios:
  • A lab manager scenario (https://github.com/b-it-bots/mas_domestic_robotics/pull/233); a demonstration can be found at https://youtu.be/WqgsuoSAT8M
  • A tidy up scenario (https://github.com/b-it-bots/mas_domestic_robotics/pull/249), including a component for detecting (small) objects from point cloud measurements (https://github.com/b-it-bots/mas_domestic_robotics/pull/248); a demonstration is provided at https://youtu.be/Tnhf6nUeuDI
  • A demo scenario for receiving an object from a person and delivering it to to a kitchen (https://github.com/b-it-bots/mas_domestic_robotics/pull/246)
  • A utility scenario for learning the face of an unknown person (https://github.com/b-it-bots/mas_domestic_robotics/pull/235)
• Various changes and improvements to the existing components:
  • Object placing by detecting impact with the placing surface (https://github.com/b-it-bots/mas_domestic_robotics/pull/239)
  • Online DMP trajectory generation (https://github.com/b-it-bots/mas_domestic_robotics/pull/231, https://github.com/b-it-bots/mas_domestic_robotics/pull/240); this is required for https://github.com/b-it-bots/mas_domestic_robotics/pull/232
  • Integration of the View messages added in mas_perception_msgs (https://github.com/b-it-bots/mas_domestic_robotics/pull/234)
  • Rewriting of the action launchers so that they accept arguments (https://github.com/b-it-bots/mas_domestic_robotics/pull/242)
  • Replacement of the ssd_keras detector by a PyTorch-based detector (https://github.com/b-it-bots/mas_domestic_robotics/pull/245, https://github.com/b-it-bots/mas_domestic_robotics/pull/247)
• A new rosinstall file for setting up a development version of the repository and its dependencies (https://github.com/b-it-bots/mas_domestic_robotics/pull/237)
• .pylintrc and .bandit files for suppressing certain Codacy warnings (such as warnings about random.choice being unsafe or about class methods (base or overriden) that can be functions), which don't really fit our context (https://github.com/b-it-bots/mas_domestic_robotics/pull/251)
• Various documentation updates (https://github.com/b-it-bots/mas_domestic_robotics/pull/236, https://github.com/b-it-bots/mas_domestic_robotics/pull/238, https://github.com/b-it-bots/mas_domestic_robotics/pull/243)

Edit 06.01.2021: Should not be merged before https://github.com/b-it-bots/mas_domestic_robotics/pull/252

[sonarcloud[bot]]

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