Demo Launch Bugs

[BobbieZain]

Description

Hello, I have encountered a few bugs when using Moveit2 to generate my robot motion package and I would like to report them:

1. Moveit2 demo.launch.py does not run correctly due to data type errors in moveit-generated file
2. When the moveit package is reconfigured, demo.launch.py is unable to run
3. The generated ros2_controllers.yaml contains typo and will cause the controllers fail to load

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Binary Build 2.5.5-1jammy.20240404.154053
• Moveit2 Humble
• Cyclone DDS

Steps to reproduce

Bug1: Generate a moveit configuration package with setup assistant, then launch the demo.launch.py Bug2: Modify the moveit configuration package with setup assistant, overwrite the existing package, then launch the demo.launch.py Bug3: Add ros2 trajectory controller to a group containing only 1 joint, generate the moveit package, then set the parameters of controller plugin to the moveit2 generated yaml

<plugin filename="ign_ros2_control-system" name="ign_ros2_control::IgnitionROS2ControlPlugin">
      <parameters>$(find your_package)/config/ros2_controllers.yaml</parameters>
</plugin>

Expected behaviour

Bug1 and 2:The moveit demo should run, with RViz showing up and the user can start path planning. Bug3: The controller should load

Actual behaviour

Bug1： The terminal returns the following message: [move_group-2] what(): parameter 'robot_description_planning.joint_limits.Slider_7.max_velocity' has invalid type: expected [double] got [integer] which requires me to manually change the velocity parameters in joint_limits.yaml into double.

Bug2： When the package is reconfigured, this error will occur when running the demo.launch.py [move_group-2] freeglut failed to open display ':0' which makes the demo.launch.py completely unusable after the package is reconfigured.

Bug3： The moveit2 generated controller configuiration for the group containing single joint is not recognized by ros2 controller manager

group_1_controller:
  ros__parameters:
    joint: joint_1

where the controller expects the "joints" to be "array", and recognises the snippet format like below but not above.

group_1_controller:
  ros__parameters:
    joints:
      - joint_1

[github-actions[bot]]

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]]

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