Melodic migration

[jrgnicho]

Just adds the eigen_conversions dependency. The build and unit tests pass

[BrettHemes]

Pull into melodic-migration #235 first?

[jrgnicho]

The latest change #235 builds in melodic but fails in kinetic, see the log error below:

                 from /root/descartes_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp:19:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/root/descartes_ws/src/descartes/descartes_moveit/src/ikfast_moveit_state_adapter.cpp:162:91:   required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);
                                        ^
/usr/include/eigen3/Eigen/src/Geometry/Transform.h:330:5: note: in expansion of macro ‘EIGEN_STATIC_ASSERT’
     EIGEN_STATIC_ASSERT(EIGEN_IMPLIES(OtherMode==int(Affine)||OtherMode==int(AffineCompact), Mode!=int(Isometry)),
     ^
In file included from /usr/include/eigen3/Eigen/Core:297:0,
                 from /usr/include/eigen3/Eigen/Geometry:11,
                 from /opt/ros/kinetic/include/moveit/robot_model/joint_model.h:47,
                 from /opt/ros/kinetic/include/moveit/robot_model/joint_model_group.h:41,
                 from /opt/ros/kinetic/include/moveit/robot_model/robot_model.h:47,
                 from /opt/ros/kinetic/include/moveit/kinematic_constraints/kinematic_constraint.h:40,
                 from /root/descartes_ws/src/descartes/descartes_core/include/descartes_core/robot_model.h:23,
                 from /root/descartes_ws/src/descartes/descartes_moveit/include/descartes_moveit/moveit_state_adapter.h:22,
                 from /root/descartes_ws/src/descartes/descartes_moveit/src/moveit_state_adapter.cpp:21:
/usr/include/eigen3/Eigen/src/Geometry/Transform.h: In instantiation of ‘Eigen::Transform<Scalar, Dim, Mode, _Options>::Transform(const Eigen::Transform<_Scalar, Dim, OtherMode, OtherOptions>&) [with int OtherMode = 2; int OtherOptions = 0; _Scalar = double; int _Dim = 3; int _Mode = 1; int _Options = 0]’:
/root/descartes_ws/src/descartes/descartes_moveit/src/moveit_state_adapter.cpp:136:83:   required from here
/usr/include/eigen3/Eigen/src/Core/util/StaticAssert.h:32:40: error: static assertion failed: YOU_PERFORMED_AN_INVALID_TRANSFORMATION_CONVERSION
     #define EIGEN_STATIC_ASSERT(X,MSG) static_assert(X,#MSG);

Ideally, we should be able to build the melodic branch in ros-kinetic.

[jrgnicho]

replaced by #236