Sync melodic changes to noetic

[JeroenDM]

• Print all deviations and check zero pose as well #76
• Use logname var instead of the inline string "opw" everywhere #78
• Update melodic release to use the noetic-devel branch (rename it to main?).
• Bugfix: make joint bound checks threadsafe #83

edit now the question is whether to sync melodic to noetic or noetic to melodic to unify the branches. I think melodic to noetic will be the easiest.

[simonschmeisser]

Generally once opw gets released for melodic we should not need a different branch for melodic and noetic any longer, right?

[JeroenDM]

Ah, indeed. It was kinetic vs melodic that involved api changes in MoveIt. If they both rely on the same released version of opw they should be fine I think.

(Mentioning kinetic make me feel old :) and it is not even the first version of ROS I started using.)

So we could simply sync melodic with noetic in either of the branches and move one of them over to MoveIt.

[JeroenDM]

To continue the thread from #77.

This also seems to suggest releasing the IK plugin should be possible now @JeroenDM.

Do you mean releasing a new version?

I assume you mean releasing a new version for melodic that uses the recently released opw-kinematics for melodic. I'll update this issue and will carve out some time next week to clean this up before moving it into MoveIt.

[JeroenDM]

Started in #82