MoveIt2 Setup Assistant generates integer values for joint limits when float is expected

JorgePRamos commented 3 months ago

Description

When generating a new MoveIt 2 package the resulting 'config/joint:limits.yaml' presents integer values when double are expected.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Source or Binary build? Binary 2.5.5-1

Steps to reproduce

Generate a moveit package using the set up assistant. Once generated and build proceed to launch the 'demo.launch.py ' This will prompt the error regarding the expected double values.

To fix it is enough to locate the file 'config/joint:limits.yaml' in your moveit package and chage the values from '0 or 3' to '0.0 or 3.0' After building the package launching the 'demo.launch.py ' will work as intended

Backtrace or Console output

[move_group-3] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterTypeException' [move_group-3] what(): parameter 'robot_description_planning.joint_limits.art1_yaw.max_velocity' has invalid type: expected [double] got [integer]

JorgePRamos commented 3 months ago

I would really like to contribute to its fix. The code is daunting but I think that the error may be in the '.joint_limits.yaml' file composition, so maybe the file 'time_optimal_trajectory_generation.cpp'

github-actions[bot] commented 1 month 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.

moveit / moveit2