[pr2eus_moveit] replace code with functions to create shape_msgs::SolidPrimitive

[708yamaguchi]

I replace the codes in collision-object-publisher.l with functions to create shape_msgs::SolidPrimitive object.
These functions are introduced at jsk-ros-pkg/jsk_roseus#640

Please merge after jsk-ros-pkg/jsk_roseus#640 is released.

[k-okada]

the test should fail until jsk-ros-pkg/jsk_roseus#640 is released

[708yamaguchi]

As #432 (comment) says, pr2eus_moveit tests should fail until jsk-ros-pkg/jsk_roseus#640 (roseus 1.7.5) is released.
However, roseus 1.7.5 has not been released on indigo, kinetic and melodic.

The melodic roseus still looks like 1.7.4.
https://build.ros.org/job/Msrc_uB__roseus__ubuntu_bionic__source/

Test failure result on melodic

2022-10-25T02:25:27.4420755Z Setting up ros-melodic-roseus (1.7.4-1bionic.20220517.182114) ...

2022-10-25T02:36:19.9876225Z [pr2eus_moveit.rosunit-test_pr2eus_moveit/all-test][FAILURE]--------------------
2022-10-25T02:36:19.9876439Z 
2022-10-25T02:36:19.9876553Z                                                                                 
2022-10-25T02:36:19.9876860Z Test:(list (cube->shape-msg obj))
2022-10-25T02:36:19.9877014Z 
2022-10-25T02:36:19.9877135Z                                                                                 
2022-10-25T02:36:19.9877338Z Trace:13
2022-10-25T02:36:19.9877451Z 
2022-10-25T02:36:19.9877565Z                                                                                 
2022-10-25T02:36:19.9877805Z Message:"undefined function"

https://github.com/jsk-ros-pkg/jsk_pr2eus/actions/runs/3317679683/jobs/5480799009