Add execution status to actions and plans

[sea-bass]

This PR switches action/plan execution from returning a binary success/failure to using a full ExecutionStatus object with different status codes and optional messages.

The ROS interface is also affected by the same, adding a new pyrobosim_msgs.msg.ExecutionStatus message type. This is a field in the result of both action interfaces.

Closes #185

[github-actions[bot]]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	92	8	91%	192, 234–237, 261–263
locations.py	125	21	83%	53, 55, 69, 84–85, 87, 98–99, 101–102, 119, 177, 192, 217, 227, 272, 283–284, 286–287, 311
objects.py	69	4	94%	78, 106, 137, 197
robot.py	358	53	85%	235–236, 248–249, 252, 257, 285–288, 293–296, 303–304, 328, 372–375, 442–443, 445–446, 463–465, 525–527, 628, 662, 679, 693–696, 709, 717, 723, 729, 735, 747, 790, 808, 811, 816, 829–833
room.py	48	1	97%	113
world.py	662	161	75%	147–148, 184–185, 189, 242–243, 245–246, 274–275, 298–300, 337–339, 351–353, 382–384, 409–411, 464, 478–479, 481–482, 511–515, 517–519, 521–522, 525, 529–533, 536–538, 541–548, 579, 615–616, 619, 635, 665–666, 677, 680, 688, 704–708, 710–712, 715–716, 719–722, 724, 727, 729–731, 733–735, 737, 752, 759, 770–774, 809–810, 814–815, 833–834, 840–841, 843–844, 846, 848–849, 851, 853–854, 864–865, 868, 870, 884, 886, 893, 940, 971–972, 983, 994–996, 998–1001, 1003, 1020–1021, 1025–1026, 1061–1062, 1064, 1081–1082, 1113, 1127–1130, 1142–1145, 1159, 1170–1171, 1173, 1217–1218, 1270, 1350–1351, 1397
yaml_utils.py	108	11	89%	64, 68, 153–155, 159–160, 180–181, 200–201
gui
__init__.py	2	0	100%
main.py	198	31	84%	23–25, 46, 78–79, 197, 209–213, 220–223, 225, 228–234, 238, 243–244, 248–249, 260, 271
world_canvas.py	244	56	77%	41–42, 44–48, 51, 59–60, 136–139, 146, 148, 205–207, 223, 259, 311, 320, 326, 333–334, 336, 338–340, 343–346, 348, 352–358, 361, 364–365, 380–382, 385, 402, 445, 466, 470, 492, 509, 523
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	3	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	85	6	92%	72–74, 79–81
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	33, 36, 38, 42, 85, 90
planner_base.py	59	31	47%	29–35, 51, 57–59, 86, 98, 101, 105, 113–114, 117–119, 122–124, 127, 129, 140–145
prm.py	72	2	97%	61–62
rrt.py	174	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	0	0	100%
actions.py	110	56	49%	85, 160–161, 163, 167–176, 178–181, 183–187, 189–192, 194–198, 200–203, 205–212, 214–215, 217–219, 265–266, 269–273
planning/pddlstream
__init__.py	7	1	85%	13
defaultmappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init_\.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	148	14	90%	110, 145–148, 155, 159–160, 173, 188, 192, 234, 250, 313
motion.py	65	5	92%	85–89
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	0	100%
TOTAL	3951	583	85%

Tests	Skipped	Failures	Errors	Time
192	0 :zzz:	0 :x:	0 :fire:	2m 57s :stopwatch: