`moveit_servo` provides duplicate `/get_planning_scene` service server to `move_group`

[mrjogo]

Description

I was running into issues where objects I'd added to the planning scene (using PlanningSceneInterface) were disappearing, and discovered that running ros2 service call /get_planning_scene moveit_msgs/srv/GetPlanningScene would sometimes return a response with the objects and sometimes without. I narrowed the problem down to only happening when I launched moveit_servo, and by running ros2 node info /servo_node_private_94365815282960 discovered that it was providing a /get_planning_scene service server in addition to the move_group. I'm assuming the issue is that there's two servers/planning scenes running, and any calls will arbitrarily hit one or the other of them.

I could namespace the servo_node, but it seems like the default behavior shouldn't cause problems.

Your environment

• ROS Distro: Humble
• OS Version: Ubuntu 22.04
• Source or Binary build? Binary
• If binary, which release version? 2.5.5-1jammy.20240126.074529
• If source, which branch? N/A
• Which RMW (Fast DDS or Cyclone DDS)? Default for Humble

Steps to reproduce

The MoveIt launchfile I'm using is based on https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/humble/ur_moveit_config/launch/ur_moveit.launch.py, and the relevant node that causes problems is:

servo_yaml = load_yaml("ur_moveit_config", "config/ur_servo.yaml")
servo_params = {"moveit_servo": servo_yaml}
servo_node = Node(
    package="moveit_servo",
    executable="servo_node_main",
    parameters=[
        servo_params,
    ],
    output="screen",
)

Expected behaviour

The servo node shouldn't clobber the move_group's planning scene

Actual behaviour

Two dueling planning scenes

Backtrace or Console output

N/A

[mrjogo]

This is possibly root cause of https://github.com/ros-planning/moveit2/issues/1775

[sea-bass]

Thanks for reporting this!

Does the issue stand if you set the paremeter is_primary_planning_scene_monitor: false -- for example, here: https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/config/panda_simulated_config.yaml#L37

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[mrjogo]

Can confirm adding is_primary_planning_scene_monitor: false fixes the problem. Thanks!