Pass along move_group_capabilities parameters

[forrest-rm]

The move_group_capabilities is currently unused in launches.py even though it is listed as a parameter of MoveItConfigs.

This fix is necessary to support MoveIt Task Constructor (MTC). In the move_group.lauch.py generated by the MoveIt Setup Assistant, the following line should be added when needed by MTC:
moveit_config.move_group_capabilities = {"capabilities": "move_group/ExecuteTaskSolutionCapability"}

I am open to suggestions if there's a better way of handling the move_group_capabilities parameter or to add the previous note as a comment in the auto generated launch scripts.

This was tested on the main and humble branches.

[codecov]

Codecov Report

Attention: 121 lines in your changes are missing coverage. Please review.

Comparison is base (d962501) 50.74% compared to head (2286851) 43.02%.
Report is 10 commits behind head on main.

Files	Patch %	Lines
...it_core/robot_state/test/robot_state_benchmark.cpp	0.00%	91 Missing ⚠️
...default_capabilities/get_group_urdf_capability.cpp	0.00%	23 Missing ⚠️
moveit_ros/tests/src/move_group_api_test.cpp	88.47%	3 Missing ⚠️
.../rdf_loader/include/moveit/rdf_loader/rdf_loader.h	0.00%	2 Missing ⚠️
...py/src/moveit/moveit_ros/moveit_cpp/moveit_cpp.cpp	0.00%	1 Missing ⚠️
...nning_scene_monitor/src/planning_scene_monitor.cpp	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2587      +/-   ##
==========================================
- Coverage   50.74%   43.02%   -7.72%     
==========================================
  Files         392      692     +300     
  Lines       32553    56297   +23744     
  Branches        0     7272    +7272     
==========================================
+ Hits        16517    24218    +7701     
- Misses      16036    31917   +15881     
- Partials        0      162     +162     

☔ View full report in Codecov by Sentry.
📢 Have feedback on the report? Share it here.

[henningkayser]

This line should already include the capabilities. Could you verify this?

[forrest-rm]

The capabilities parameter is not currently included in the to_dict() function:
https://github.com/ros-planning/moveit2/blob/8d2eb900d222f6609ee2588f6f5ebb97986635bd/moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py#L119C5-L119C23

I tried adding the capabilities parameter to the to_dict() function but that didn't seem to work. It seems that the additional parameter needs to added it to move_group_params after move_group_configuration, but I'm not sure why.

[forrest-rm]

@henningkayser, did you have additional thoughts on this PR or are you able to approve it?

[henningkayser]

sorry for late response... Params override each other, and move_group_configuration provides empty capabilities by default (lines 200 , 214). So I think the best solution would be to set the default to moveit_config.move_group_capabilities in line 200. That way, the launch file would still allow using the launch argument if necessary.

[forrest-rm]

@henningkayser, with a slight modification because moveit_config.move_group_capabilities is a Dict, your suggestion works. It still seems odd that the capabilities parameter is handled separately instead as part of moveit_config.to_dict() like the other moveit_config parameters.

[sjahr]

@forrest-rm You're right. Do you mind opening a brief issue so we can track fixing this in a more appropriate way in the future?

[forrest-rm]

@sjahr, I created Issue #2694 to track a more integrated solution.

Is it possible to also back-port this to the humble and iron branches? I have tested this on humble.