OMPL "request adapters" parameter isn't read properly #1075
Description
Description
Modifying the "request adapter" in a MoveGroup launch file does not have any effect.
Your environment
- ROS Distro: ROS2 Rolling
- Source build, main branch
Steps to reproduce
Edit this line in panda_moveit_config/demo.launch.py:
"request_adapters": """default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints""",
Change it to something invalid like this:
"request_adapters": """test""",
Then run the launch file:
ros2 launch moveit_resources_panda_moveit_config demo.launch.py
You should see some terminal output indicating it is still using the default request adapters:
[move_group-4] [INFO] [1644848949.048494917] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Add Time Parameterization'
[move_group-4] [INFO] [1644848949.048507989] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Resolve constraint frames to robot links'
[move_group-4] [INFO] [1644848949.048512591] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Workspace Bounds'
[move_group-4] [INFO] [1644848949.048516398] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Bounds'
[move_group-4] [INFO] [1644848949.048519733] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State In Collision'
[move_group-4] [INFO] [1644848949.048523060] [moveit.ros_planning.planning_pipeline]: Using planning request adapter 'Fix Start State Path Constraints'