Ports a6f8bb9 331381a 593a119 and 593a119 from moveit1

[rr-mark]

Description

• Fixes RobotState::getRigidlyConnectedParentLinkModel and subframes: PRs not ported from moveit1. #3279
• Reverts 1f23344
• Ports a6f8bb9 331381a 593a119 and 4a3a312 from moveit1 (skipping changes to cartesian_interpolator.cpp, which has been completely re-written since those PRs).

Please back-port to humble when merged.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 91.83673% with 4 lines in your changes missing coverage. Please review.

Project coverage is 45.62%. Comparing base (870b23d) to head (22887a5).
Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
moveit_core/robot_model/src/robot_model.cpp	78.58%	3 Missing ⚠️
moveit_core/robot_state/src/robot_state.cpp	96.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3280      +/-   ##
==========================================
- Coverage   45.94%   45.62%   -0.31%     
==========================================
  Files         716      716              
  Lines       62393    62410      +17     
  Branches     7543     7550       +7     
==========================================
- Hits        28659    28471     -188     
- Misses      33568    33772     +204     
- Partials      166      167       +1     

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[JafarAbdi]

The changes look good. Could we cherry-pick these changes without committing, then adapt them for ROS 2? This would help preserve the original authorship. Thanks!

[rr-mark]

The changes look good. Could we cherry-pick these changes without committing, then adapt them for ROS 2? This would help preserve the original authorship. Thanks!

I tried to patch the changes across, but I'm not very familiar with git patches, and there were enough changes on the ROS2 side (primarily removing moveit::core:: namespaces and similar) that the patches wouldn't apply.

If you could talk me though how to port these properly I will happily do that instead.

[rr-mark]

I think the test failure is unrelated to this PR. Could someone with the relevant permissions re-run the failed test, to see if it's sporadic?

[sea-bass]

I think the test failure is unrelated to this PR. Could someone with the relevant permissions re-run the failed test, to see if it's sporadic?

Test flakiness has been quite bad lately...

[sjahr]

The changes look good. Could we cherry-pick these changes without committing, then adapt them for ROS 2? This would help preserve the original authorship. Thanks!

I tried to patch the changes across, but I'm not very familiar with git patches, and there were enough changes on the ROS2 side (primarily removing moveit::core:: namespaces and similar) that the patches wouldn't apply.

If you could talk me though how to port these properly I will happily do that instead.

@rr-mark MoveIt2 was forked from MoveIt1 so you should be able to add moveit1 as a remote repository in your local copy and then just cherry-pick the commits to MoveIt2.

[rr-mark]

@rr-mark MoveIt2 was forked from MoveIt1 so you should be able to add moveit1 as a remote repository in your local copy and then just cherry-pick the commits to MoveIt2.

Ah, thanks, I'll try that later (on this and #3247)

[rr-mark]

Closed in favour of #3284