Fetch notifies trashbox status in go-to-kitchen demo.

[708yamaguchi]

Please merge after #1449

I cherry-picked

• knorth55@bc84ef3
• knorth55@3baccbe
• knorth55@74c98db
• Use :relative-pos and :relative-rot for (go-to-spot) knorth55/jsk_robot#140

With this PR,

• fetch goes in front of the trashbox in the go-to-kitchen demo.
• fetch notifies the status by object recognition and email.

[k-okada]

please paste screenshot of notification mail @708yamaguchi

[k-okada]

please see comments #1463 (comment)

[708yamaguchi]

This is today's go-to-kitchen mail.

The trashcan status is reported like below.
In addition, the trashcan picture is attached. (but not embedded...)

Following trashcan occupancy is reported.
 - At 2022-04-21T09:02:43, Trashcan is full. Trashcan occupancy is 1.24093 in trash can.

[708yamaguchi]

I rebased origin/master to resolve conflicts.

[k-okada]

@708yamaguchi please resolve conflicts

[708yamaguchi]

I rebase the current origin/master to resolve conflicts.

[k-okada]

Are we ok to change API?
Specially why you changed coordinates to pos/rot?
since go-to-spot will be put in pr2eus level in future, please add documentation string

[708yamaguchi]

Thank you very much for your review.
As you pointed out, documentation was lacking, so I added an explanation. 268ea1c (#1458)

After talking with @tkmtnt7000, we came to the conclusion that it is easier to understand if relative-pos and relative-rot are specified in the different coords (specifically, world (map) and local (spot) coords respectively).
knorth55#140 (comment)

For example, assume using relative-coords in each spot's coords.
In this case, when specifying the pos of the relative-coords, we need to care about the orientation of each spot.
This is very complicated because each spot has a different orientation.