Fixes flaky RobotState test

[TSNoble]

Description

Fixes #3103 by ensuring that the dirty_link_transforms_ member is cleared before querying the RobotState

See #3102 for more details on the cause.

TLDR:

Setting the build type to Release causes tests to silently fail, whereas Debug does not (some tests rely on assert calls, which are enabled / disabled based on the presence of the NDBUG macro variable, which is set by CMake depending on the build type).

See the SonarScan pipeline call to ros-industrial/industrial_ci@master, which sets DCMAKE_BUILD_TYPE to Debug (and where the tests fail), and the same call in the rolling-ci pipeline (where the tests pass), which sets the same variable to Release.

I've also added a comment (and demonstration of the fix, at least for this test) locally.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[TSNoble]

Without the changes (Release) -- Test passes:

root@d1aa334f4187:~/ws_moveit# colcon build --cmake-args -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Release --packages-up-to moveit_core
...
root@d1aa334f4187:~/ws_moveit# cd build/moveit_core/robot_state/ && ./test_robot_state --gtest_filter="*rigid*"
Note: Google Test filter = *rigid*
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from OneRobot
[ RUN      ] OneRobot.rigidlyConnectedParent
Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
         at line 304 in /root/ws_moveit/src/srdfdom/src/model.cpp
[WARN] [1731709187.657265541] [moveit_2277077567]: exception thrown while creating node for logging: failed to create guard condition: context argument is null, at ./src/rcl/guard_condition.c:65
[WARN] [1731709187.657291808] [moveit_2277077567]: if rclcpp::init was not called, messages from this logger may be missing from /rosout
[INFO] [1731709187.657325479] [moveit_2277077567.moveit.core.robot_model]: Loading robot model 'one_robot'...
[ERROR] [1731709187.657558759] [moveit_2277077567.moveit.core.robot_state]: Unable to find link for frame 'no_object'
[ERROR] [1731709187.657571642] [moveit_2277077567.moveit.core.robot_state]: Unable to find link for frame 'object/no_subframe'
[ERROR] [1731709187.657574262] [moveit_2277077567.moveit.core.robot_state]: Unable to find link for frame ''
[ERROR] [1731709187.657584565] [moveit_2277077567.moveit.core.robot_state]: Unable to find link for frame 'object/'
[ERROR] [1731709187.657595636] [moveit_2277077567.moveit.core.robot_state]: Unable to find link for frame '/'
[       OK ] OneRobot.rigidlyConnectedParent (6 ms)
[----------] 1 test from OneRobot (6 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (6 ms total)
[  PASSED  ] 1 test.

Without the changes (Debug) -- Test fails:

root@d1aa334f4187:~/ws_moveit# colcon build --cmake-args -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Debug --packages-up-to moveit_core
...
root@d1aa334f4187:~/ws_moveit# cd build/moveit_core/robot_state/ && ./test_robot_state --gtest_filter="*rigid*"
Note: Google Test filter = *rigid*
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from OneRobot
[ RUN      ] OneRobot.rigidlyConnectedParent
Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
         at line 304 in /root/ws_moveit/src/srdfdom/src/model.cpp
[WARN] [1731708234.797945875] [moveit_2006049342]: exception thrown while creating node for logging: failed to create guard condition: context argument is null, at ./src/rcl/guard_condition.c:65
[WARN] [1731708234.797975187] [moveit_2006049342]: if rclcpp::init was not called, messages from this logger may be missing from /rosout
[INFO] [1731708234.798013942] [moveit_2006049342.moveit.core.robot_model]: Loading robot model 'one_robot'...
[WARN] [1731708234.800753550] [moveit_2006049342.moveit.core.robot_state]: Returning dirty link transforms
test_robot_state: /root/ws_moveit/src/moveit2/moveit_core/robot_state/src/robot_state.cpp:1309: const Eigen::Isometry3d& moveit::core::RobotState::getFrameInfo(const std::string&, const moveit::core::LinkModel*&, bool&) const: Assertion `checkLinkTransforms()' failed.
Aborted

With the changes (Debug) -- Test passes:

root@d1aa334f4187:~/ws_moveit# colcon build --cmake-args -DBUILD_TESTING=ON -DCMAKE_BUILD_TYPE=Debug --packages-up-to moveit_core
...
root@d1aa334f4187:~/ws_moveit# cd build/moveit_core/robot_state/ && ./test_robot_state --gtest_filter="*rigid*"
Note: Google Test filter = *rigid*
[==========] Running 1 test from 1 test suite.
[----------] Global test environment set-up.
[----------] 1 test from OneRobot
[ RUN      ] OneRobot.rigidlyConnectedParent
Error:   Group 'base_with_bad_subgroups' has unsatisfied subgroups
         at line 304 in /root/ws_moveit/src/srdfdom/src/model.cpp
[WARN] [1731708144.887481051] [moveit_3787422709]: exception thrown while creating node for logging: failed to create guard condition: context argument is null, at ./src/rcl/guard_condition.c:65
[WARN] [1731708144.887508333] [moveit_3787422709]: if rclcpp::init was not called, messages from this logger may be missing from /rosout
[INFO] [1731708144.887537809] [moveit_3787422709.moveit.core.robot_model]: Loading robot model 'one_robot'...
[ERROR] [1731708144.890794401] [moveit_3787422709.moveit.core.robot_state]: Unable to find link for frame 'no_object'
[ERROR] [1731708144.890822982] [moveit_3787422709.moveit.core.robot_state]: Unable to find link for frame 'object/no_subframe'
[ERROR] [1731708144.890838105] [moveit_3787422709.moveit.core.robot_state]: Unable to find link for frame ''
[ERROR] [1731708144.890841557] [moveit_3787422709.moveit.core.robot_state]: Unable to find link for frame 'object/'
[ERROR] [1731708144.890853957] [moveit_3787422709.moveit.core.robot_state]: Unable to find link for frame '/'
[       OK ] OneRobot.rigidlyConnectedParent (9 ms)
[----------] 1 test from OneRobot (9 ms total)

[----------] Global test environment tear-down
[==========] 1 test from 1 test suite ran. (9 ms total)
[  PASSED  ] 1 test.

[sea-bass]

Nice find!

[sea-bass]

Does this need backport?

[TSNoble]

@sea-bass Yeah, that'd be great, thanks!

[TSNoble]

@sea-bass Out of curiosity, are main PRs automatically merged into jazzy too? This one in particular feels like it'll affect all versions

[sea-bass]

@sea-bass Out of curiosity, are main PRs automatically merged into jazzy too? This one in particular feels like it'll affect all versions

There is no jazzy branch right now, since it's compatible with main.

What will happen is that, at some point, there will likely be a breaking change in Rolling that prompts us to cut a different jazzy branch that diverges from main. But until then, one and the same!