methylDragon

* Linux [](http://ci.ros2.org/job/ci_linux/18492/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/13040/) * Windows [](http://ci.ros2.org/job/ci_windows/19217/) --- * Linux [](http://ci.ros2.org/job/ci_linux/18494/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/13042/) * Windows [](http://ci.ros2.org/job/ci_windows/19220/) * Windows Debug [](http://ci.ros2.org/job/ci_windows/19218/)...

+1

I seem them here: (Master) https://github.com/moveit/moveit_msgs/blob/9756797dcbc293c7cae66541a7bc0c7acec85892/srv/GetCartesianPath.srv#L48-L49 (ros2) https://github.com/moveit/moveit_msgs/blob/c713195687cc4afcd466062007cc97cb1736638e/srv/GetCartesianPath.srv#L57-L58 is this still an issue?

It's missing from the `rosdistro` repositories for `humble`: https://github.com/ros/rosdistro/blob/master/humble/distribution.yaml I don't see a `humble` branch in the release repo too: https://github.com/ros2-gbp/ign_ros2_control-release Would it be possible for @ahcorde to bloom it...

> The reason for this is fairly simple. One can't have a component that is a gazebo plugin and a ros2_control hw component (aka another plugin) at the same time...

> > Thanks for the reply! I didn't realize having a library be usable as a plugin for multiple downstream applications wasn't possible :o > > I can't think of...

Update: The ROS package has been created as a GitHub repo [here](https://github.com/methylDragon/mgm_ros) The efforts for wrapping MGM as a statically linkable library, and one that is usable by ROS have...

* Linux [](http://ci.ros2.org/job/ci_linux/22341/) * Linux-aarch64 [](http://ci.ros2.org/job/ci_linux-aarch64/16604/) * Linux-rhel [](http://ci.ros2.org/job/ci_linux-rhel/1872/) * Windows [](http://ci.ros2.org/job/ci_windows/23132/)

@leeminju531 , any updates from your end?

Thanks Emerson for helping with this! 🙇 I think other than the points William listed above, we just need to add getters to the `DynamicSubscription` to get the `DynamicMessageType` (probably...