[:self-collision-check] ignore links which do not have :faces

[k-okada]

rewrited version of #537

• add test-self-collision-check-pqp/bullet
• update :self-collision-check, warn message when link without faces is included in collision-check-pairs
• fix btmakemeshmodel when faces is nil
• CBULLE.cpp print 'BT_MakeMeshModel with numVertices == 0'
• irteus/pqp.l

[708yamaguchi]

Thank you very much for your support.
I have checked that (send *fetch* :self-collision-check) works with both pqp and bullet.

• bullet
  The following error occurred in origin/master, but this PR fixes it.

ERROR th=0 float vector expected  in (send *fetch* :self-collision-check)E:

• pqp
  The following error occurred in origin/master, but this PR fixes it.

PQP Error! EndModel() called on model with no triangles

Instead, the following log was output. I think these invalid-links are nice and easy to read.

1.irteusgl$ (send *fetch* :self-collision-check)
skip collision between head_camera_depth_optical_frame (0) because of no faces
skip collision between head_camera_rgb_optical_frame (0) because of no faces
skip collision between head_camera_depth_frame (0) because of no faces
skip collision between head_camera_rgb_frame (0) because of no faces
skip collision between head_camera_link (0) because of no faces

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This is an off-topic question, but why is there no irtcollision.l in /opt/ros/$ROS_DISTRO/share/euslisp/jskeus/irteus/ ? (My ROS_DISTRO is melodic)
I think that's why (select-collision-algorithm *collision-algorithm-bullet*) is not available in the apt version.

$ ls /opt/ros/$ROS_DISTRO/share/euslisp/jskeus/irteus/
compile_irtg.l    irtbvh.l      irtgeo.l    irtimage.h       irtrobot.h   irtviewer.h        nr.c
compile_irtgl.l   irtc.c        irtgl.c     irtimage.l       irtrobot.l   irtviewer.l        nr.h
compile_irtimg.l  irtcollada.c  irtglc.c    irtmath.c        irtscene.c   irtx.c             png.c
compile_irt.l     irtcollada.h  irtgl.h     irtmath.h        irtscene.h   irtx.h             png.h
compile_irtx.l    irtcollada.l  irtgl.l     irtmath.l        irtscene.l   irtx.l             png.l
CPQP.C            irtdyna.c     irtglrgb.c  irtmodel.c       irtsensor.c  kalmanlib.l        PQP
defun.h           irtdyna.h     irtglrgb.h  irtmodel.h       irtsensor.h  Makefile           pqp.c
demo              irtdyna.l     irtglrgb.l  irtmodel.l       irtsensor.l  Makefile.Cygwin    pqp.h
euspng.c          irtext.l      irtgraph.c  irtpointcloud.c  irtutil.c    Makefile.Darwin    pqp.l
euspqp.c          irtgeo.c      irtgraph.h  irtpointcloud.h  irtutil.h    Makefile.Linux     test
irtbvh.c          irtgeoc.c     irtgraph.l  irtpointcloud.l  irtutil.l    Makefile.Linux64   test.c
irtbvh.h          irtgeo.h      irtimage.c  irtrobot.c       irtviewer.c  Makefile.LinuxARM  test.o

1.irteusgl$ (select-collision-algorithm *collision-algorithm-bullet*)
Call Stack (max depth: 20):
  0: at #<compiled-code #X55e2b08223e8>
irteusgl 0 error: undefined function select-collision-algorithm in #<compiled-code #X55e2b08223e8>

[k-okada]

Thank you. irtcollision.l was just releasead 10 days ago, #570, so it is not released yet.