Remove unnecessary code in aabb.cpp

[sea-bass]

As described in #257, I think this code can simply be removed since we don't need the older implementation around for older FCL versions that are not in any of the active ROS 2 distros.

Closes #229
Closes #257

[sea-bass]

I'm not 100% sure whether I should be deleting this or the other part of the code.

Is FCL 0.5 the newer or older version in this decision boundary for whether to use their function vs the custom one?

According to 96b34aa, I think this is right?

[codecov-commenter]

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All modified and coverable lines are covered by tests ✅

Project coverage is 69.06%. Comparing base (8bf3272) to head (24e1887).

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@@            Coverage Diff            @@
##           ros2     #258       +/-   ##
=========================================
+ Coverage      0   69.06%   +69.06%     
=========================================
  Files         0       21       +21     
  Lines         0     3370     +3370     
  Branches      0      325      +325     
=========================================
+ Hits          0     2327     +2327     
- Misses        0      932      +932     
- Partials      0      111      +111     

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[peci1]

The question is what is the minimum (oldest) platform that should be supported on the ros2 branch. I don't know that.

[sea-bass]

The question is what is the minimum (oldest) platform that should be supported on the ros2 branch. I don't know that.

That should be Ubuntu 22.04 / ROS 2 Humble... which if I recall already has FCL >= 0.6?

If not, I can use the conditional as in the noetic branch.

[peci1]

Ubuntu 22.04 has fcl 0.7

[peci1]

According to REP 2000, this PR would only cut support for Tier 3 Ubuntu 20.04.

[sea-bass]

According to REP 2000, this PR would only cut support for Tier 3 Ubuntu 20.04.

Perfect, thanks!

So either way the code as is has an issue. We either:

• Remove the hand-rolled solution and leave only the FCL call, making the code simple but cutting Tier 3 support for Humble (my preference)
• Add in the preprocessor conditional, keeping support for 20.04