Forward port ABI compatibility workaround with OBBs to ros2 branch

[sea-bass]

Forward porting b00b1e5 since we ran into the ABI incompatibility...

moveit/moveit2#3130

Closes #251

[sjahr]

Thanks!

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##   ros2   #252   +/-   ##
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[rhaschke]

Just applying the ABI compatibility hack is a bad idea. As pointed out by @peci1 in its original ROS1 commits, this should only be necessary for compatibility with release binaries.
However, at least in CI you are building everything (geometric_shapes and MoveIt) from source. Thus, there shouldn't be any ABI compat issues. As we see issues anyway, they probably originate from the build system not correctly resolving headers. I suggest to tackle this root cause instead of introducing the ABI compat hack here.

[rhaschke]

I will have a short look this afternoon.

[sea-bass]

Thank you! This issue was specifically happening with the main branch of moveit2 built from source in a Ubuntu 22.04/Humble environment, if that is any help.

(To verify changes, I was just running the humble-ci job)

[rhaschke]

I strongly believe that this the good old header installation problem. Since ROS Humble, headers should be installed to /opt/ros/<distro>/include/<package>/<package>/:
https://docs.ros.org/en/humble/Releases/Release-Humble-Hawksbill.html#c-headers-are-installed-in-a-subdirectory
https://colcon.readthedocs.io/en/released/user/overriding-packages.html#install-headers-to-a-unique-include-directory

MoveIt2 never realized that change, causing ABI issues with package overlays to persist.
We recently fixed this for srdfdom: moveit/srdfdom#132 and moveit/srdfdom@65ce909.
I think, it's time to go through all MoveIt-releated packages and eventually fix it.
Unfortunately, I don't have the resources to do so.

[rhaschke]

I created moveit/moveit2#3134 as a reminder and will provide a PR here as another example.

[sea-bass]

MoveIt has had some active new contributors lately that may want to/be able to help with this!

Do you mind making a new issue on that repo? I can bring it up at the maintainer meeting alongside the topic of switching from .h to .hpp files.

Edit: hah, way ahead of me :)