Split pyrobosim_ros and pyrobosim_msgs packages into separate repos

[sea-bass]

This PR moves the pyrobosim_ros and pyrobosim_msgs packages into a separate repo (https://github.com/sea-bass/pyrobosim_ros), including them back here as submodules.

This will facilitate creating releases that officially work within the ROS 2 ecosystem. See

• Add PyRoboSim to python.yaml ros/rosdistro#42205
• https://github.com/sea-bass/pyrobosim_ros/issues/1

Also updating the release to 3.0.0 as this is the last of the big changes before I try cutting a major release.

[github-actions]

Coverage Report

File	Stmts	Miss	Cover	Missing
__init__.py	0	0	100%
core
__init__.py	9	0	100%
dynamics.py	43	0	100%
gazebo.py	136	8	94%	55, 124, 230, 244–248
hallway.py	92	8	91%	192, 234–237, 261–263
locations.py	130	21	83%	66, 68, 84, 99–100, 102, 113–114, 116–117, 134, 192, 207, 232, 242, 287, 298–299, 301–302, 331
objects.py	69	4	94%	78, 106, 137, 197
robot.py	388	65	83%	237–238, 250–251, 263, 266, 270–271, 276–277, 307–310, 315–318, 325–326, 350, 394–397, 401–403, 437, 439, 475–476, 478–479, 496–498, 564–566, 675, 711, 728, 742–743, 745, 747, 750–752, 765, 773, 779, 785, 791, 803, 846, 864, 867, 872, 885–889
room.py	48	1	97%	113
world.py	735	186	74%	147–148, 184–185, 189, 242–243, 245–246, 274–275, 298–300, 337–339, 351–353, 382–384, 409–411, 464, 478–479, 481–482, 497–499, 515–519, 521–523, 525–526, 529, 533–537, 540–542, 545–556, 572–573, 591–593, 607–609, 645–647, 659–661, 683–685, 710–712, 760–761, 764, 780, 810–811, 822, 825, 833, 849–853, 855–857, 860–861, 864–867, 869, 872, 874–876, 878–880, 882, 897, 904, 915–919, 954–955, 959–960, 978–979, 985–986, 988–989, 991, 993–994, 996, 998–999, 1009–1010, 1013, 1015, 1029, 1031, 1038, 1085, 1116–1117, 1128, 1139–1141, 1143–1146, 1148, 1165–1166, 1170–1171, 1206–1207, 1209, 1226–1227, 1258, 1272–1275, 1287–1290, 1304, 1315–1316, 1318, 1362–1363, 1415, 1495–1496
yaml_utils.py	108	11	89%	64, 68, 153–155, 159–160, 180–181, 200–201
gui
__init__.py	2	0	100%
main.py	191	30	84%	22–24, 45, 77–78, 196, 208–212, 219–222, 224, 227–233, 237, 242–243, 247–248, 259
world_canvas.py	283	55	80%	44–45, 47–51, 54, 62–63, 171–174, 181, 183, 240–242, 289, 326, 360–361, 384–385, 387, 389–391, 394–397, 399, 403–409, 412, 415–416, 431–433, 436, 453, 496, 517, 521, 544, 561, 575
manipulation
__init__.py	1	0	100%
grasping.py	236	61	74%	102, 110–112, 114–122, 124, 132, 462, 464–466, 470–472, 566–568, 571–575, 583, 586–588, 593–594, 600–604, 607–614, 617–619, 628, 630, 632–638
navigation
__init__.py	3	0	100%
a_star.py	78	10	87%	67–72, 74–76, 165
execution.py	85	6	92%	72–74, 79–81
occupancy_grid.py	139	14	89%	44–47, 49–53, 56, 192, 226, 234, 238
path_planner.py	26	6	76%	33, 36, 38, 42, 89, 94
planner_base.py	59	17	71%	29–35, 51, 57–59, 142–147
prm.py	72	2	97%	61–62
rrt.py	174	0	100%
world_graph.py	70	3	95%	118, 121, 145
planning
__init__.py	0	0	100%
actions.py	112	0	100%
planning/pddlstream
__init__.py	7	1	85%	13
default_mappings.py	9	0	100%
planner.py	40	8	80%	119–126
primitives.py	57	2	96%	68, 208
utils.py	85	3	96%	66, 99–100
utils
__init__.py	0	0	100%
general.py	33	4	87%	23, 45, 51–52
knowledge.py	154	22	85%	86, 117, 156–161, 163–164, 167–168, 170–173, 189, 204, 208, 250, 266, 329
motion.py	65	0	100%
polygon.py	111	0	100%
pose.py	89	0	100%
search_graph.py	93	3	96%	240–242
trajectory.py	67	1	98%	165
TOTAL	4099	552	86%

Tests	Skipped	Failures	Errors	Time
196	0 💤	0 ❌	0 🔥	3m 4s ⏱️

[sea-bass]

@DLu what do you think?

[eholum]

Submodules, my oldest and dearest friend.

So functionally this is fine, I did a quick sanity check and the docs updates look good! But dumb question - is this out of necessity or desire for separation? What exactly is going to break in the bloom process if you just kept this as folders/subfolders?

[sea-bass]

Submodules, my oldest and dearest friend.

So functionally this is fine, I did a quick sanity check and the docs updates look good! But dumb question - is this out of necessity or desire for separation? What exactly is going to break in the bloom process if you just kept this as folders/subfolders?

Hmm... you're right. Maybe we can just keep it all here and still go through the whole release process.

There are still a few places in the pyrobosim_ros/CMakeLists.txt where we're currently pointing to source code in other folders, but as I found yesterday that's not necessary. So we can at least delete that part and keep the repo as is.

Let me sleep on it for a bit, but great point, as I would love to not have to maintain two separate repos.

[sea-bass]

OK yeah let's not do this. Good bye, PR, and thanks again @eholum!

[eholum]

Lol. Always happy to have my ignorance lead to less work!

Edit: whoops. Fat phone fingers...