AndyZe

MSA: write the default controller namespace

2

### Description MoveIt Setup Assistant should write the controller namespace to the yaml file, like this: ``` arm_controller: type: FollowJointTrajectory action_ns: follow_joint_trajectory joints: - J1 ... - J6 ``` Fixes...

As reported in issue #1506, the default `moveit_controllers.yaml` created by MSA is missing a few lines: ``` action_ns: follow_joint_trajectory default: true ```

MGI CallbackGroup doesn't trigger when running external Executor + Fast-DDS

12

### Description The OMPL constrained planning tutorial [here](https://github.com/ros-planning/moveit2_tutorials/blob/main/doc/how_to_guides/using_ompl_constrained_planning/src/ompl_constrained_planning_tutorial.cpp) no longer works. I've traced it down to this: ``` rclcpp::NodeOptions node_options; node_options.automatically_declare_parameters_from_overrides(true); auto node = rclcpp::Node::make_shared("ompl_constrained_planning_demo_node", node_options); rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(node); auto...

Add a "target_pose_lookahead_time" parameter

5

This work was started in #886. Closes #696. The new parameter helps account for latency in the control loop. This can compensate for various issues or delays in the control...

The Ruckig trajectory smoother currently stretches the entire trajectory in time until all kinematic limits are obeyed. This works but it can slow the trajectory more than necessary. It's better...

Similar to what was done here: https://github.com/ros-controls/ros2_control/pull/768 https://github.com/ros-controls/ros2_control/pull/781

HybridPlanningManager should not inherit from Node

1

See `moveit_ros/hybrid_planning/.../hybrid_planning_manager.h` Discussion here. https://github.com/ros-planning/moveit2/pull/980#discussion_r787230230 This likely causes some initialization issues. There is a sleep in the constructor.

Rethinking the layout of MoveIt Setup Assistant

6

In ROS1, the process of using MSA went like this: - Work through the various tabs (collision matrix, planning groups, perception, ...) - At the end, select which files you...

### Description See discussion here: https://github.com/ros-planning/moveit2_tutorials/pull/391#issuecomment-1150096437

Grepping in the ompl_interface package, I don't see that the `start_state_max_bounds_error` parameter is used anywhere.