Parameter loading issue with "MoveIt Quickstart in RViz" on Rolling

[destogl]

Description

Issues with loading parameters in rolling

Your environment

• ROS Distro: Rolling and Galactic
• OS Version: Ubuntu 20.04
• Source build
• workspace state (should be the same as defined in moveit2_tutorials.repos file)

  repositories:
  geometric_shapes:
    type: git
    url: https://github.com/ros-planning/geometric_shapes
    version: 6b37f6885f1a4d264087b978a7965fb2c8d72c3b
  moveit2:
    type: git
    url: https://github.com/ros-planning/moveit2
    version: c8d3b19da0b902c2ac2ab6791bcd5891bebcc505
  moveit2_tutorials:
    type: git
    url: git@github.com:ros-planning/moveit2_tutorials.git
    version: 6aae45f539b0a797562c82bd80d87ef002827680
  moveit_msgs:
    type: git
    url: https://github.com/ros-planning/moveit_msgs
    version: 989674b94de3dbe4401adb28de49aa4cbd069826
  moveit_visual_tools:
    type: git
    url: https://github.com/ros-planning/moveit_visual_tools
    version: cef60e3328c83d7df0cab0b02e53bca2779655b4
  ros2_control:
    type: git
    url: git@github.com:ros-controls/ros2_control.git
    version: 407bbd1066dae25f6da8e3422dfa1a10118c791f
  ros2_controllers:
    type: git
    url: git@github.com:ros-controls/ros2_controllers.git
    version: d5d24d90615844f04a59a187732adec3aa4efae0
  rviz_visual_tools:
    type: git
    url: https://github.com/PickNikRobotics/rviz_visual_tools.git
    version: 445b998c658ea91cf220e79bd9ef3b3495a5f3da

Steps to reproduce

Try starting "MoveIt Quickstart in RViz" tutorial

When "MotionPlanning" plugin is added following output comes out in terminal and robot is not shown as described:

[rviz2-1] [ERROR] [1642267958.594784654] [moveit_ros_visualization.motion_planning_frame]: Action server: /recognize_objects not available
[rviz2-1] [INFO] [1642267958.643654296] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0021203 seconds
[rviz2-1] [INFO] [1642267958.643718636] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[rviz2-1] [ERROR] [1642267958.650450666] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'panda_arm.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {panda_arm.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.

Expected behavior

Panda robot should be shown in simulation.

[destogl]

@fmauch found an excellent solution to this issue. @tylerjw should this syntax be used as a reference for kinematics.yaml? I think that we can agree that load_yaml is not a long-term solution.