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