Purge 'side' parameter

[PetervDooren]

We dont want to refer to left or right arms because not every robot has two arms which are symetrical. For that reason we want to remove the parameter 'side' and replace it with something more general

Must be merged together with: tue-robotics/hero_description#11 and tue-robotics/hero_bridge#23

I think this should be tested on the real robot, just to be safe...

[PetervDooren]

To make this interface truly generic we should make it so that not all parameters, actions, tf_frames are linked via the arm name. Then we should allow these things as parameters to the interface. But that might be something for another day...

[PetervDooren]

I don't think the the fact that we dont do this like that anywhere else is reason to change this.
I assume by 'this' you mean having a sensor topic as input?

[MatthijsBurgh]

I don't mind having the sensor topic as argument. I only mind that we force a prefix of the robot name on the topic.

[PetervDooren]

That is something we do with every topic/action/service. That is not something unusual in robot_skills

[MatthijsBurgh]

No, we don't do this in robot_skills. Not for the ones that have the topic as the argument. I.E.

tue_robocup/robot_skills/src/robot_skills/perception.py

Lines 23 to 31 in 9bece90

	if image_topic is None:
	self.image_topic = "/" + self.robot_name + "/top_kinect/rgb/image"
	else:
	self.image_topic = image_topic
	if projection_srv is None:
	projection_srv_name = '/' + robot_name + '/top_kinect/project_2d_to_3d'
	else:
	projection_srv_name = projection_srv

[MatthijsBurgh]

Please rebase before approval

[MatthijsBurgh]

Wait for CI before merging

[PetervDooren]

All tests are passed when all repositories are checked out to fix/side_param
see https://dev.azure.com/tue-robotics/tue_robocup/_build/results?buildId=2494&view=results