Properly handle move_group_capabilities

moveit / moveit2

:robot: MoveIt for ROS 2

https://moveit.ai/

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Properly handle move_group_capabilities #2694

Open forrest-rm opened 8 months ago

forrest-rm commented 8 months ago

Description

In moveit_configs_utils/moveit_configs_utils/launches.py, the capabilities parameter is handled separately instead as part of moveit_config.to_dict() like the other moveit_config parameters.

Environment

ROS Distro: Humble, but also present in other distros
OS Version: Ubuntu 22.04
humble and main source branches

Steps to reproduce

A temporary fix was made in PR: #2587 @sjahr suggested creating an issue for a more integrated fix

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.

gavanderhoorn commented 4 months ago

@sjahr / @henningkayser: could you please summarise the status of this issue?

With configuration packages generated by the MSA from main (bee0a2985bdf5e5c9ba67c0e2e0d74c6a8840c63) we're seeing #2734 here, which I believe is related to this one, and is somewhat confusing.

I'd like to avoid approaches like this one, as it would mean maintaining yet another fork.

Edit: @SyZbidi FYI

mikeferguson commented 2 weeks ago

I've opened https://github.com/moveit/moveit2/pull/3018 to fix the current issues that make the exported MSA config not actually run

From what I can see, we can't actually use the moveit_config.to_dict() unless we drop support for the launch parameters capabilities/disabled_capabilities (which I have no idea how widely the are used).