Moveit simple controller manager doesn't respond to changes of trajectory_execution.execution_duration_monitoring parameter

[Thijsons]

Description

To make the UR10e robot work properly with its internal speed set to low values the 'trajectory_execution.execution_duration_monitoring' parameter of the simple controller manager needs to be changed to false, see here.

setting the 'trajectory_execution.execution_duration_monitoring' parameter to false via a launch file does not seem to affect the simple controller manager? Checking the parameter on the parameter server does show its value to be false.

Setting it manually via
ros2 service call /moveit_simple_controller_manager/set_parameters rcl_interfaces/srv/SetParameters "{parameters: [{name: "trajectory_execution.execution_duration_monitoring", value: {type: 1, bool_value: False}}]}"
does work.

Your environment

• ROS Distro: Foxy
• OS Version: e.g. Ubuntu 20.04
• Source, foxy branch

Steps to reproduce

adjust the parameter in the launch file in the way described.

Expected behaviour

This parameter should be altered in the simple controller manager and change the behavior of the controller

Actual behaviour

The parameter is set on the ros2 parameter server, but the simple controller manager does not seem affected.

[AndyZe]

Thanks for pointing this out! In future MoveIt releases, I think trajectory execution duration monitoring should be dropped and we'll allow ros2_control to handle it (which it does already).

That doesn't help you with Foxy, though... It would be helpful if you could make a PR.

[henningkayser]

#996 has fixed this, I'm backporting to Foxy

[henningkayser]

#1898