Fix joint_limits.yaml generating integer values for double parameters

[Med0kin]

Description

When moveit_setup_assistant generates joint_limits.yaml, whole-number limits like 1.0 are written as 1. This causes move_group to crash on startup with:

parameter 'robot_description_planning.joint_limits.joint1.max_velocity' has invalid type: expected [double] got [integer]

This was previously reported in #2776 and previous #2803 attempted to fix this with static_cast<double>, which doesn't affect yaml-cpp's output.

The underlying issue is that yaml-cpp saves C++'s double value like 1.0 as 1, which is valid per YAML spec. It is then read as integer by launch_param_builder. So 1 would be both a int and float, it is just that it's matched as int first.

This fix is clearly a workaround and yaml-cpp already has a feature to enforce adding trailing zeros (jbeder/yaml-cpp#1407), but yet not available in recently released version.

An alternative solution would be to enfore the type in joint_limits.yaml with !!float tags, where !!float 1 would be matched as float.

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.
✅ Project coverage is 46.32%. Comparing base (c154f94) to head (99edc87).

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3716      +/-   ##
==========================================
+ Coverage   46.22%   46.32%   +0.11%     
==========================================
  Files         726      726              
  Lines       59503    59504       +1     
  Branches     7623     7626       +3     
==========================================
+ Hits        27499    27559      +60     
+ Misses      31836    31779      -57     
+ Partials      168      166       -2     

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