Fix parameter name & Fix exception about parameter type

[JafarAbdi]

Description

Previously the following parameters were not being loaded at all projection_evaluator longest_valid_segment_fraction enforce_joint_model_state_space enforce_constrained_state_space

This PR
1- Fix the parameter prefix
2- Fix the exception being throw by calling node_->get_parameter(param_name, ...) due to types mismatch

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

[vatanaksoytezer]

I've read the code and left a small question, otherwise looks good to me!

[codecov]

Codecov Report

Merging #461 (8e831c2) into main (3a41a20) will decrease coverage by 0.58%.
The diff coverage is 85.72%.

@@            Coverage Diff             @@
##             main     #461      +/-   ##
==========================================
- Coverage   52.01%   51.43%   -0.57%     
==========================================
  Files         223      223              
  Lines       23340    23339       -1     
==========================================
- Hits        12137    12002     -135     
- Misses      11203    11337     +134     

Impacted Files	Coverage Δ
...lanners/ompl/ompl_interface/src/ompl_interface.cpp	76.93% <85.72%> (+26.45%)	⬆️
...meterization/work_space/pose_model_state_space.cpp	0.00% <0.00%> (-83.01%)	⬇️
...rameterization/work_space/pose_model_state_space.h	0.00% <0.00%> (-73.68%)	⬇️
.../ompl_interface/src/detail/constrained_sampler.cpp	0.00% <0.00%> (-59.45%)	⬇️
...tion/work_space/pose_model_state_space_factory.cpp	41.67% <0.00%> (-33.33%)	⬇️
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	57.74% <0.00%> (-14.33%)	⬇️
...mpl_interface/src/model_based_planning_context.cpp	60.65% <0.00%> (ø)
...nning_scene_monitor/src/planning_scene_monitor.cpp	56.24% <0.00%> (+0.13%)	⬆️
...e/collision_detection_fcl/src/collision_common.cpp	75.19% <0.00%> (+0.50%)	⬆️
moveit_core/robot_model/src/joint_model_group.cpp	54.62% <0.00%> (+0.53%)	⬆️
... and 9 more

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[AndyZe]

Is a good way to test this to start one of the demos and check that longest_valid_segment_fraction (for example) is loaded?

[AndyZe]

With this PR I ran the moveit_cpp demo then listed parameters like this:

ros2 launch run_moveit_cpp run_moveit_cpp.launch.py

ros2 param list | longest_valid

So it seems like the parameters weren't loaded? Maybe they are not supposed to be loaded for this particular demo?

[JafarAbdi]

With this PR I ran the moveit_cpp demo then listed parameters like this:

ros2 launch run_moveit_cpp run_moveit_cpp.launch.py

ros2 param list | longest_valid

So it seems like the parameters weren't loaded? Maybe they are not supposed to be loaded for this particular demo?

We use this ompl_planning.yaml file for loading the OMPL configs, could you try updating it to have one of these parameters

[AndyZe]

@JafarAbdi I went ahead and added those parameters. It looks good EXCEPT enforce_constrained_state_space is not a bool but it was read anyway.

  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    longest_valid_segment_fraction: 0.1
    projection_evaluator: test
    enforce_joint_model_state_space: true
    enforce_constrained_state_space: 1.3  ==> Should be a boolean

ros2 param get /run_moveit_cpp ompl.planner_configs.RRTConnectkConfigDefault.enforce_constrained_state_space gives
Double value is: 1.3

So I guess something is not quite working.

[JafarAbdi]

@JafarAbdi I went ahead and added those parameters. It looks good EXCEPT enforce_constrained_state_space is not a bool but it was read anyway.

  RRTConnectkConfigDefault:
    type: geometric::RRTConnect
    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
    longest_valid_segment_fraction: 0.1
    projection_evaluator: test
    enforce_joint_model_state_space: true
    enforce_constrained_state_space: 1.3  ==> Should be a boolean

ros2 param get /run_moveit_cpp ompl.planner_configs.RRTConnectkConfigDefault.enforce_constrained_state_space gives
Double value is: 1.3

So I guess something is not quite working.

Currently, if there's a type mismatch it will only print an error, did you get any error about that .?

Also, these parameters have to be loaded under the group namespace similar to planner_configs

[AndyZe]

OK, that looks good. (Consider putting test instructions in the PR description next time)

[AndyZe]

I'll leave it to you to squash and merge