Backport of Migrate CHOMP and collision tutorials from ROS1 (#492) to…

… humble (#742)

* Migrate CHOMP and collision tutorials from ROS1 (#492)

* Migrated tutorial from ROS1

* Fix merging error in CMakeLists.txt

---------

Co-authored-by: Henning Kayser <henningkayser@picknik.ai>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 725c7d8)

# Conflicts:
#	CMakeLists.txt
#	doc/examples/chomp_planner/chomp_planner_tutorial.rst
#	doc/examples/planning_adapters/planning_adapters_tutorial.rst
#	doc/how_to_guides/how_to_guides.rst

* Address rebasing conflicts

* Remove references to non-existing files and cleanup

* Cleanups

* Update doc/examples/examples.rst

---------

Co-authored-by: Michael Wrock <michael.wrock@picknik.ai>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

CMakeLists.txt

@@ -76,11 +76,13 @@ add_subdirectory(doc/examples/robot_model_and_robot_state)
 # add_subdirectory(doc/examples/tests)
 # add_subdirectory(doc/examples/trajopt_planner)
 # add_subdirectory(doc/examples/creating_moveit_plugins/lerp_motion_planner)
+# add_subdirectory(doc/examples/visualizing_collisions)
 add_subdirectory(doc/examples/moveit_cpp)
 # add_subdirectory(doc/examples/collision_environments)
 # add_subdirectory(doc/examples/visualizing_collisions)
 # add_subdirectory(doc/examples/bullet_collision_checker)
 add_subdirectory(doc/examples/realtime_servo)
+add_subdirectory(doc/how_to_guides/chomp_planner)
 add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)
 
 ament_export_dependencies(

doc/examples/collision_environments/CMakeLists.txt

@@ -1,4 +1,11 @@
-catkin_install_python(PROGRAMS
-  scripts/collision_scene_example.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
+add_executable(collision_scene_example
+    src/collision_scene_example.cpp)
+target_include_directories(collision_scene_example
+    PUBLIC include)
+ament_target_dependencies(collision_scene_example
+    ${THIS_PACKAGE_INCLUDE_DEPENDS} Boost)
+
+install(TARGETS collision_scene_example
+    ARCHIVE DESTINATION lib
+        LIBRARY DESTINATION lib
+        RUNTIME DESTINATION lib/${PROJECT_NAME})