Print a collision summary to status of failed contact check

[marrts]

Better debugging at a glance for dot graphs. Depends on tesseract-robotics/tesseract#1079

[Levi-Armstrong]

Not that I am against adding this, just wanted mention here. There is now a log file that can be generated and tesseract_qt has a viewer that allows you to inspect a lot of this type of information.

https://github.com/tesseract-robotics/tesseract_planning/blob/master/tesseract_task_composer/core/include/tesseract_task_composer/core/task_composer_log.h

[marrts]

There is now a log file that can be generated and tesseract_qt has a viewer that allows you to inspect a lot of this type of information.

I was unaware of this, I can't seem to get it to work in RVIZ with tesseract_ros2. I was able to save and then load a log file (although it was 6.6 GB), and I see things about viewing trajectories and toolpaths in the widget, but nothing actually displays.

In general my proposed change just helps for seeing things at a glance. I am saving all my programs at each step with unique names and publishing them all to the trajectory viewer, so I can debug things nicely, but it can be hard to dig through them all to find the collision and there are so many terminal logs that I can't easily find the collision report.

[marrts]

and there are so many terminal logs that I can't easily find the collision report

I think something that would be really cool is to have a tesseract logger object that optionally prints stuff to the terminal, but also stores all the logs to a map based on UUIDs of tasks/graphs. Then all the terminal logs could be exported into unique files, making it easy to debug an individual task even when multiple threads are running at the same time

[Levi-Armstrong]

I was unaware of this, I can't seem to get it to work in RVIZ with tesseract_ros2. I was able to save and then load a log file (although it was 6.6 GB), and I see things about viewing trajectories and toolpaths in the widget, but nothing actually displays.

In general my proposed change just helps for seeing things at a glance. I am saving all my programs at each step with unique names and publishing them all to the trajectory viewer, so I can debug things nicely, but it can be hard to dig through them all to find the collision and there are so many terminal logs that I can't easily find the collision report.

The widget has a context menu that allows you to right click on composite instruction and send as a tool path or joint trajectory. I need to add more like sending the collision results, etc.

[Levi-Armstrong]

I could see this blowing up. Should we just print the first contact summary?

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 78.43%. Comparing base (e00ae6f) to head (a90d2c3).

Additional details and impacted files

@@            Coverage Diff             @@
##           master     #543      +/-   ##
==========================================
+ Coverage   78.41%   78.43%   +0.01%     
==========================================
  Files         252      252              
  Lines       13734    13746      +12     
==========================================
+ Hits        10770    10782      +12     
  Misses       2964     2964              

see 2 files with indirect coverage changes