Added vel and acc scaling to GetCartesianPath.srv on Humble

[liamcarlos]

I'm adding these to match a pull request on moveit/moveit2 to add velocity and acceleration control to cartesian path planning on the Humble branch.

I found this portion on the Iron branch here but couldn't find references to them in moveit/moveit2 so I just left them out if anybody's wondering.

# Maximum cartesian speed for the given link.
# If max_cartesian_speed <= 0 the trajectory is not modified. string cartesian_speed_limited_link
float64 max_cartesian_speed # m/s

[liamcarlos]

Hey @rhaschke can we merge this to the humble branch so humble users can use the velocity and acceleration scaling options for cartesian path planning? This coincides with this pr #3051, but merging this one wouldn't break anything if done first right?

[rhaschke]

I just comment on ROS2 and leave merging to other maintainers: @sjahr, @sea-bass.
Having said this, I'm not sure they accept message changes in Humble as that breaks existing API.

[liamcarlos]

@rhaschke These changes wouldn't break the current API since these new variables aren't being used at all on the Humble branch for Cartesian Planning. If the pull request I put up here (#3051) got merged first, then things would break. Regardless, Iron has all of these changes I'm suggesting and has already passed its EOL, so I don't understand why these changes can't be made for Humble which has 2 more years until EOL. Shouldn't the Humble branch still be maintained?

[sea-bass]

Maintained as in bug fixes? Yes.

But modifying function interfaces and message types generally is not done on non-Rolling branches

[liamcarlos]

@sea-bass This is a bug. Set scaled velocity and acceleration would work if they were added to this srv file and implemented in cartesian_path_service_capability.cpp and move_group_interface.cpp Otherwise, Humble users have no control over the speed and acceleration of their arms using cartesian planning.. Is there any good reason for omitting this control?

[mikeferguson]

Changing message definitions also changes the checksum on them - so if a sender and receiver are not both on the exact same set of messages, they can't actually communicate (and so the effect is very similar to API/ABI changes).

MoveIt has an official policy on API/ABI stability that was adopted after quite a bit of discussion at developer meetings - you can find it here: https://moveit.ai/moveit%202/ros/2023/05/31/balancing-stability-and-development.html - it also has some details about how to use the main branch on older distributions.

[liamcarlos]

Hey @mikeferguson I've tried using the main branch with humble as suggested here but I'm getting an error about an undefined reference in the libmoveit_warehouse library when I try to build my move group action server. Have you guys seen this issue before?

/usr/bin/ld: /opt/ros/humble/lib/libmoveit_warehouse.so.2.7.4: undefined reference to `warehouse_ros::DatabaseLoader::~DatabaseLoader()'