Introducing new graph elements and properties

[mxgrey]

New graph elements

• Mutex Groups
• Lift Properties
• Door Properties
• Merge Radius for waypoints

New features

• Arbitrary step size for trajectory iterator
• Identify whether a position is inside a lift
• Identify whether a path crosses a door

Fixes

• Identify when a robot's position is moving through a lift
• Robots always perform lane entry event when starting offset along a lane
• Fix progress reporting for schedule database

[Yadunund]

@mxgrey instead of updating the CI files, can we merge this PR which aims to switch the CI jobs to rely on the reusable ones from rmf_ci_templates?

[codecov]

Codecov Report

Merging #103 (1947537) into main (68f2f9e) will decrease coverage by 1.32%.
The diff coverage is 8.40%.

❗ Current head 1947537 differs from pull request most recent head de519db. Consider uploading reports for the commit de519db to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main     #103      +/-   ##
==========================================
- Coverage   23.02%   21.71%   -1.32%     
==========================================
  Files         369      361       -8     
  Lines       30769    30302     -467     
  Branches    14371    14200     -171     
==========================================
- Hits         7085     6580     -505     
- Misses      14202    14218      +16     
- Partials     9482     9504      +22     

Flag	Coverage Δ
tests	21.71% <8.40%> (-1.19%)	⬇️

Flags with carried forward coverage won't be shown. Click here to find out more.

Files	Coverage Δ
rmf_traffic/include/rmf_traffic/Trajectory.hpp	33.33% <ø> (-16.67%)	⬇️
...affic/include/rmf_traffic/schedule/Participant.hpp	0.00% <ø> (ø)
...f_traffic/src/rmf_traffic/schedule/Participant.cpp	48.36% <0.00%> (-1.91%)	⬇️
rmf_traffic/test/unit/schedule/test_Database.cpp	3.24% <0.00%> (ø)
rmf_traffic/include/rmf_traffic/agv/Graph.hpp	5.00% <25.00%> (-17.23%)	⬇️
rmf_traffic/src/rmf_traffic/schedule/Database.cpp	47.24% <57.14%> (-1.99%)	⬇️
...raffic/src/rmf_traffic/agv/planning/Supergraph.cpp	52.05% <0.00%> (-2.35%)	⬇️
rmf_traffic/src/rmf_traffic/Trajectory.cpp	71.18% <0.00%> (-3.50%)	⬇️
rmf_traffic/src/rmf_traffic/agv/Planner.cpp	52.15% <21.42%> (-0.76%)	⬇️
rmf_traffic/test/unit/schedule/test_Mirror.cpp	12.14% <0.00%> (-1.92%)	⬇️
... and 2 more

... and 139 files with indirect coverage changes

[mxgrey]

@Yadunund Thanks for pointing that out, we should definitely converge on that. I think we'll still need to update the ci template though, so I'll start poking at that instead.