Properly handle move_group_capabilities

[forrest-rm]

Description

In moveit_configs_utils/moveit_configs_utils/launches.py, the capabilities parameter is handled separately instead as part of moveit_config.to_dict() like the other moveit_config parameters.

Environment

• ROS Distro: Humble, but also present in other distros
• OS Version: Ubuntu 22.04
• humble and main source branches

Steps to reproduce

A temporary fix was made in PR: #2587
@sjahr suggested creating an issue for a more integrated fix

[github-actions]

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.

[gavanderhoorn]

@sjahr / @henningkayser: could you please summarise the status of this issue?

With configuration packages generated by the MSA from main (bee0a29) we're seeing #2734 here, which I believe is related to this one, and is somewhat confusing.

I'd like to avoid approaches like this one, as it would mean maintaining yet another fork.

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Edit: @SyZbidi FYI

[mikeferguson]

I've opened #3018 to fix the current issues that make the exported MSA config not actually run

From what I can see, we can't actually use the moveit_config.to_dict() unless we drop support for the launch parameters capabilities/disabled_capabilities (which I have no idea how widely the are used).