* Added functions to enable/disable collisions with an object vis the allowed collision matrix

* Clarified function name, reduced replicated code

* Made toggling collisions async

* Fix type annotations for consistency

* formatting

* Added tests

* Spelling

* Update docstring

* Fix unnecessary change

…fector_link` when available (#56)

* Update msg

* Use  `cartesian_speed_limited_link` instead of `cartesian_speed_end_effector_link` when available

Signed-off-by: Andrej Orsula <[email protected]>

---------

Signed-off-by: Andrej Orsula <[email protected]>
Co-authored-by: Apurv Saha <[email protected]>

* added re-use of max_velocity_scaling_factor and max_acceleration_scaling_factor from move_action goal to cartesian_path_request

* Removed getter and setter of 'max_cartesian_speed' to avoid confusion
as the corresponding value of the MotionPlanRequest.msg
(respectively the self.__move_action_goal.request object) is currently
not used in moveit2.
--> The 'max_cartesian_speed' variable requires the
'default_planner_request_adapters/SetMaxCartesianEndEffectorSpeed'
which currently only exists in moveit1.

* Added ability to have cartesian planning calls avoid collisions

* Fix bad merge

* Allow users to set cartesian jump threshold

* Allow users to set cartesian max step

* Pass frame_id into the cartesian planning service

* Add ability to specify a required fraction for a cartesian plan to succeed

* Allowed users to get end effector name and base link name

* Add revolute and prismatic jump thresholds

* Formatting

* Added test cases

* Added a function to move collision objects

* Add examples

* Allow scaling of collision meshes

* Added trimesh to rosdeps for easier installation

* Ran tests with example

* Remove trimesh as a required dependency

…ing_scene` To User (#66)

* Reinstate Humble compatibility for GetCartesianPath

* Expose planning scene to user

Signed-off-by: Andrej Orsula <[email protected]>

Signed-off-by: Andrej Orsula <[email protected]>