Update msg for support in ROS Iron

[Apurv354]

No description provided.

[Apurv354]

@fabid I have confirmed that we don't need to add any if condition here.
This change applies to all the versions of ros.

[fabid]

actually I think I made a mistake yesterday to talk about a condition based on ros version, but there might be a need to make a change base on MoveIt version, right?
I think the change on this PR works with moveit rolling and probably the latest moveit on iron, but not the default moveit-humble. Or does it work with moveit-humble?

[Apurv354]

actually I think I made a mistake yesterday to talk about a condition based on ros version, but there might be a need to make a change base on MoveIt version, right? I think the change on this PR works with moveit rolling and probably the latest moveit on iron, but not the default moveit-humble. Or does it work with moveit-humble?

Except humble this change works with every ros version.

[fabid]

Except humble this change works with every ros version.

Do you mean every ROS version newer than Humble? (I suspect it won't work with Foxy if it doesn't with Humble).

And so can we modify the PR to make it work including on Humble, with some conditional, so that it can be merged in main?

I also realized that on top of providing latest ros-humble-moveit-* they also have version numbers like 2.6 and 2.7. It would be great to track down which version change is the PR change related to

[Apurv354]

Except humble this change works with every ros version.

Do you mean every ROS version newer than Humble? (I suspect it won't work with Foxy if it doesn't with Humble).

And so can we modify the PR to make it work including on Humble, with some conditional, so that it can be merged in main?

I also realized that on top of providing latest ros-humble-moveit-* they also have version numbers like 2.6 and 2.7. It would be great to track down which version change is the PR change related to

I will track it down

[fabid]

Option1: find a way to find moveit2 version and add a conditional:
Option2: PR to a branch of upstream => not sure how to do it

[fabid]

@Apurv354 any update on this one?

[Apurv354]

@Apurv354 any update on this one?

@fabid I went through the git history of moveit_ros_msgs. It is a bit complicated but I saw they have a master branch which has the most up-to-date code and there are several ros branches.

They merged this master to Iron 7 months ago which brought the change - moveit/moveit_msgs@1fe0082

There is no update to the humble branch that's why the code fails in ros_moveit_msgs - humble.

[fabid]

thank you @Apurv354 for digging. Could you double check your link? it is directing me to a CI workflow change

[fabid]

this PR? moveit/moveit_msgs#130

[fabid]

Changelog of moveit_msgs: https://github.com/ros-planning/moveit_msgs/blob/9756797dcbc293c7cae66541a7bc0c7acec85892/CHANGELOG.rst#L12
change since version 0.11.3 (2022-09-13)

I cannot find a clear reference of the matching moveit2 version, even the ubuntu package directory does not display matching versions https://index.ros.org/p/moveit_msgs/#rolling

So I would say that based on our tests, the change in this PR should target iron and rolling