add test_octomap_server_contact_pr2.test for xacro or xacro.py, see #2817 #607

Job	Run time
ros (indigo, true, true, true, ros-ubuntu:14.04-pcl, sudo pip install numpy==1.16.6; sudo pip ins...	1h 55m 15s
ros (kinetic, true, true, true, ros-ubuntu:16.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	1h 33m 40s
ros (kinetic, true, true, true, ros-ubuntu:16.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	1h 42m 49s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	1h 48m 6s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip install numpy==1.16.6; sudo pip in...	1h 49m 43s
ros (melodic, true, true, true, ros-ubuntu:18.04-pcl, sudo pip uninstall -y fcn chainer chainercv...	1h 29m 22s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, sudo pip3 install numpy==1.17.5 scipy==1.3....	1h 57m 27s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, jsk_pcl_ros_utils jsk_pcl_ros, sudo pip3 in...	2h 18m 58s
ros (noetic, false, true, true, ros-ubuntu:20.04-pcl, jsk_recognition_msgs, sudo pip3 install num...	1h 50m 55s
	16h 26m 15s

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