Description

When I fill out the MoveIt Controllers section in the MoveIt Setup Assistant with the following configuration

and then I generate the files, I get the resulting moveit_controllers.yaml

# MoveIt uses this configuration for controller management

moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager

moveit_simple_controller_manager:
  controller_names:
    - my_fjt_ctrl

  my_fjt_ctrl:
    type: FollowJointTrajectory
    action_ns: follow_joint_trajectory
    default: true
    joints:
      - joint_1
      - joint_2
      - joint_3
      - joint_4
      - joint_5
      - joint_6
    action_ns: ""
    default: false

Note that action_ns and default are both defined twice. Seemingly once with the values I put, and once with the default values. This obviously causes problems.

I've also tried this without changing the default from true, and the action namespace still gets set to the wrong thing.

Probably related to #1514. Maybe that fix had problems.

ROS Distro

Humble

OS and version

Ubuntu 22.04

Source or binary build?

Binary

If binary, which release version?

2.5.7

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

Go through the MSA and fill out non-default values in the MoveIt Controllers section

Expected behavior

follow_joint_trajectory should be empty and default should be set to false.

Actual behavior

The action_ns is set to both follow_joint_trajectory and empty, and default is set to both true and false

Backtrace or Console output

No response