WMD Track: MoveIt Config Utils

[JafarAbdi]

No description provided.

[AndyZe]

Here's an issue:

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

    if not possible_names:
            logging.warn(
                "trajectory_execution: `Parameter file_path is undefined "
                f"and no matches for {config_folder}/*_controllers.yaml"

I think this is a bad idea because it will catch ros2_controllers.yaml as well as moveit_controllers.yaml

[DLu]

#1296

[DLu]

#1297

[JafarAbdi]

Refactor MoveItConfigs to be decorated with dataclass

from dataclasses import dataclass

@dataclass(slots=True)
class MoveItConfigs:
    something: Type = DefaultValue
    ...

This would save us from having the following for each parameter

__slots__ = [
    "__something",
    ...
]

@property
def something(self):
    return self.__something

@something.setter
def something(self, value):
    self.__something = value