Add MoveIt Task Constructor packages (core, capabilities, visualization, demo, rviz_marker_tools)

.github/workflows/testpr.yml

@@ -4,6 +4,7 @@ on:
 
 env:
   ROS_VERSION: 2
+  PYTHONIOENCODING: utf-8
   # Change to 'true' to enable the cache upload as artifacts
   SAVE_CACHE_AS_ARTIFACT: 'true'
   # Change to 'true' to ignore cache and force a full rebuild, but please restore to 'false' before merging

patch/ros-lyrical-moveit-task-constructor-capabilities.patch

@@ -0,0 +1,12 @@
+diff --git a/CMakeLists.txt b/CMakeLists.txt
+--- a/CMakeLists.txt
++++ b/CMakeLists.txt
+@@ -20,7 +20,7 @@ add_library(${PROJECT_NAME} SHARED
+    src/execute_task_solution_capability.cpp
+ )
+ target_link_libraries(${PROJECT_NAME} PUBLIC
+-  fmt
++  fmt::fmt
+   ${rclcpp_action_TARGETS}
+   ${moveit_core_TARGETS}
+   ${moveit_ros_move_group_TARGETS}