Migrate CHOMP and collision tutorials from ROS1 (#492)

* Migrated tutorial from ROS1

* Fix merging error in CMakeLists.txt

---------

Co-authored-by: Henning Kayser <[email protected]>
Co-authored-by: Sebastian Jahr <[email protected]>

Author: 3 people

CMakeLists.txt

@@ -52,7 +52,6 @@ include_directories(${THIS_PACKAGE_INCLUDE_DIRS})
 # add_subdirectory(doc/examples/tests)
 # add_subdirectory(doc/examples/trajopt_planner)
 # add_subdirectory(doc/examples/visualizing_collisions)
-
 add_subdirectory(doc/examples/jupyter_notebook_prototyping)
 add_subdirectory(doc/examples/motion_planning_api)
 add_subdirectory(doc/examples/motion_planning_pipeline)
@@ -66,6 +65,7 @@ add_subdirectory(doc/examples/robot_model_and_robot_state)
 add_subdirectory(doc/how_to_guides/isaac_panda)
 add_subdirectory(doc/how_to_guides/kinematics_cost_function)
 add_subdirectory(doc/how_to_guides/parallel_planning)
+add_subdirectory(doc/how_to_guides/chomp_planner)
 add_subdirectory(doc/how_to_guides/persistent_scenes_and_states)
 add_subdirectory(doc/how_to_guides/pilz_industrial_motion_planner)
 add_subdirectory(doc/how_to_guides/using_ompl_constrained_planning)

doc/examples/chomp_planner/chomp_planner_tutorial.rst

@@ -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})