Push to start using Moveit

[LarsJanssenTUe]

Todo list/issue list:

• [x] Remove dependency on ros-noetic-moveit-simple-controller-manager and deinstall on computers that already have it installed. Dependency apparently does not break anything
• [x] Prevent robot from driving outside its own workspace
• [ ] update targets to install hsrb_moveit_plugins from hsr.io
• [x] sync with upstream remote on hsr.io
• [x] update hsrb_bridge to correct working state
• [ ] fix all remaining command line warnings/errors

[LarsJanssenTUe]

Current status when it is decided to start focusing on robocup 2022:

Moveit is in a semi-working state, however the inverse kinematics calculator returns after it finds the first feasible result interesting solutions are found, especially for the arm_roll_joint for which multiple orientations are possible for the same pose. To try and offset this a start is made on implementing the moveit pick and place functionality. Currently the limiting factor here is that the objects that Hero detects are not parsed in the world_model and therefore do not become part of the collision environment of moveit (which is published by ed_moveit). Raw moveit does work and multiple different motion planners can be used, however only the toyota IK solver seems to be usable since the other solvers can not handle the multiple DOF of the base.

To get to this state please checkout the moveit branch on the following repos: ed_moveit, hero_bridge, hero_bringup, hsrb_moveit and tue_env.