MoveitConfigBuilder: capabilities is unused

[mikeferguson]

Description

move_group_capabilities is defined at https://github.com/ros-planning/moveit2/blob/main/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py#L106 - but is never actually filled in or loaded from a yaml file

There isn't a clear way to define the loading of custom capabilities (for instance the Task Constructor ones).

Should we load this from YAML? I think in ROS1 most people just edited the launch file to change the capabilities - but that's not really an option with the structure of ROS2 MSA/launch.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04

[vatanaksoytezer]

Should we load this from YAML?

Loading from YAML looks like the correct way to me. MSA / MoveIt 2 launches are generally structured such that you don't need to edit launch files. @JafarAbdi thoughts?

[henningkayser]

@JafarAbdi ping

[chama1176]

Hi, I have same problem as this comment #1248 (comment)
, and it is related to this issue.

MoveItConfigsBuilder and generate_move_group_launch load planning_pipelines capabilities param into the /move_group pilz_industrial_motion_planner.capabilities (or something like this).

However, move_group loads pipeline_capabilities from "planning_pipelines/" + pipeline_name + "/capabilities".
This means /move_group planning_pipelines/pilz_industrial_motion_planner/capabilities and this param path is invalid in ros2 and cannot load any capabilities.
https://github.com/ros-planning/moveit2/blob/b0f0f680c3f86b8074d208a1e78c92cfa75cf5ca/moveit_ros/move_group/src/move_group.cpp#L155-L161

So, #1248 (comment) uses capabilities(not related to any pipelines) to load capabilities.

Is there any solution?
Or I fixed it by changing the path as follows. Is it ok?

      if (context_->moveit_cpp_->getNode()->get_parameter(pipeline_name + ".capabilities",
                                                          pipeline_capabilities))

[chama1176]

Thanks for the #2270 , my problem #1393 (comment) is solved.

[mikeferguson]

This is actually now supported by modifying the launch file, which is what I've done here: mikeferguson/ubr_reloaded@84c67ef