robot_description value in RobotModelLoader

leander2189 commented 9 months ago

Description

Usual way of creating a RobotModelLoader instance is by setting the Options field with robot_description = "robot_description". This works ok, and the application will expect the kinematic parameters to be under robot_description_kinematics key, just like when launching move_group node.

On the other hand when Options is build by passing directly both the URDF and SRDF (why wait for a topic when I have access to the files), robot_description field is never set, and then the application will complain about kinematics not being defined, as it looks for _kinematics key.

This happens even if you manually set robot_description field manually in Options, as it builds RDFLoader through this line where the attribute robot_description is never set.

Your environment

ROS Distro: Humble
OS Version: e.g. Ubuntu 22.04
Binary build
If binary, which release version?

Steps to reproduce

Init your RobotModelLoader with urdf and srdf instead of robot_description field:

        const std::string robot_urdf = this->get_parameter("robot_description").as_string();
        const std::string robot_srdf = this->get_parameter("robot_description_semantic").as_string();
        robot_model_loader::RobotModelLoader::Options options(robot_urdf, robot_srdf);
        options.robot_description_ = "robot_description";
        auto robot_model_loader = std::make_shared<robot_model_loader::RobotModelLoader>(node_ptr, options);
        const moveit::core::RobotModelPtr &robot_model = robot_model_loader->getModel();

This warning will appear in the log

[dtc_test-5] [WARN 1696484568.119027388] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml! (loadKinematicsSolvers() at ./robot_model_loader/src/robot_model_loader.cpp:268)

Expected behaviour

Default behavior (loader expecting kinematics data under robot_description_kinematics) should not change depending on which constructor is called, and a method to manually change that key should be exposed, maybe by passing through robot_description field to RDFLoader in every case.

leander2189 commented 9 months ago

github-actions[bot] commented 6 months ago

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

github-actions[bot] commented 4 months ago

This issue was closed because it has been stalled for 45 days with no activity.

leander2189 commented 2 months ago

As a follow up of this issue, robot_model_loader must be created with (node, "robot_description") parameters, otherwise the node will not find the kinematic settings, nor joint_limits, nor acceleration limits

moveit / moveit2