Port Hand-Eye Calibration to ROS 2 and add Gazebo calibration demo

[AndrejOrsula]

- Depends on moveit/moveit_calibration#118

Description

This PR aims to port Hand-Eye Calibration tutorial to ROS 2 while also adding a demo inside Ignition Gazebo (WMD22).

The video below shows the Gazebo environment for eye-to-hand/eye-in-hand calibration scenarios.

moveit2_calibration.mp4

Unfortunately, I currently cannot get Ignition Gazebo + ros2_control working in Jammy (humble/rolling) due to ros-controls/gz_ros2_control#62. Therefore, panda_ign_moveit2 with galactic is currently used in the demo from video above to provide robot configuration for Gazebo until it is available inside one of the MoveIt 2 repositories.

Checklist

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[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?

[prasuchit]

Hi,

Is this still under works? I'd like to try this out on Moveit2. Currently, I'm facing this issue on noetic. Basically rviz crashes with segfault evertime the solver is run.

[AndrejOrsula]

Hello @prasuchit. ROS 2 tutorial for moveit_calibration is not yet available because the ROS 2 port of moveit_calibration is not finalised. You can track the conversation under moveit/moveit_calibration#118 to see what packages must be ported to ROS 2 first.

[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?

[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?

[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?

[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?

[mergify]

This pull request is in conflict. Could you fix it @AndrejOrsula?