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add test_octomap_server_contact_pr2.test for xacro or xacro.py, see #2817 #918

add test_octomap_server_contact_pr2.test for xacro or xacro.py, see #2817

add test_octomap_server_contact_pr2.test for xacro or xacro.py, see #2817 #918