PILZ Industrial motion planner is ignoring the goal frame_id passed

Description

Seems to be directly related to the following issues merged in MoveIt1:

https://github.com/moveit/moveit/issues/3035 https://github.com/moveit/moveit/pull/3522 https://github.com/moveit/moveit/pull/3519

I am using PILZ to plan trajectories with LIN. Planning with OMPL, you can set the goal constraint frame_id as any frame present in the planning scene and the planner correctly plans the motion correctly. This does not seem to be the case with PILZ in MoveIt2.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Source or Binary build? Binary
If binary, which release version? 2.5.5-1
If source, which branch? -
Which RMW? Cyclone DDS

Steps to reproduce

Create a MotionPlanRequest with a frame_id inside the TF frame or collision object sub-frame present in the planning scene.
The planning will fail with PILZ.

Expected behaviour

By planning a linear movement with LIN setting a TargetPose in a certain frame it shall plan properly by knowing the RobotState.

Actual behaviour

The following ERROR happens:

[move_group-8] [ERROR] [1716888985.952557659] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Given frame (ur_base_link) is unequal to model frame(world)

Backtrace or Console output

Using LIN reports the following:

MoveGroup action client/server ready
[move_group-8] [INFO] [1716888985.952069236] [moveit_move_group_default_capabilities.move_action_capability]: Received request
[Node-10] [INFO] [1716888985.952241475] [move_group_interface]: Planning request accepted
[move_group-8] [INFO] [1716888985.952255668] [moveit_move_group_default_capabilities.move_action_capability]: executing..
[move_group-8] [INFO] [1716888985.952350877] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-8] [INFO] [1716888985.952366258] [moveit_move_group_capabilities_base.move_group_capability]: Using planning pipeline 'pilz_industrial_motion_planner'
[move_group-8] [INFO] [1716888985.952446866] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Generating LIN trajectory...
[move_group-8] [ERROR] [1716888985.952557659] [moveit.pilz_industrial_motion_planner.trajectory_functions]: Given frame (ur_base_link) is unequal to model frame(world)
[move_group-8] [ERROR] [1716888985.952625855] [moveit.pilz_industrial_motion_planner.trajectory_generator]: Failed to compute inverse kinematics for link: gripper_tool0 of goal pose
[move_group-8] [INFO] [1716888985.952667417] [moveit_move_group_default_capabilities.move_action_capability]: Unknown event
[Node-10] [INFO] [1716888985.953047990] [move_group_interface]: Planning request aborted
[Node-10] [ERROR] [1716888985.953390414] [move_group_interface]: MoveGroupInterface::plan() failed or timeout reached
[Node-10] [ERROR] [1716888985.953423159] [pick_place_executor]: Planning failed when planning with LIN pilz_industrial.

I assume the same issue arises with PTP and CIRC.

I do not have the bandwidth to backport these changes but could if not solved yet in the near future, opening this issue to let it be known in case. Having a backport to humble and updating the binaries would be appreciated as well.

moveit / moveit2