New planner format?

[oskarsVismanis]

According to this PR, the format of how the controllers are loaded has changed in MoveIt2 and, I assume, to make this package compatible with Jazzy, @ycheng517, you've updated the format as well? I noticed this when running demo.launch.py and getting the error expected [string_array] got [string].

And besides this, using the request_adapters specified in the current ompl_planning.yaml

  - default_planning_request_adapters/CheckStartStateBounds
  - default_planning_request_adapters/CheckStartStateCollision
  - default_planning_request_adapters/ResolveConstraintFrames
  - default_planning_request_adapters/ValidateWorkspaceBounds

I get the error that these do not exist, but the demo works fine with these ones specified

default_planner_request_adapters/AddTimeOptimalParameterization
default_planner_request_adapters/FixWorkspaceBounds
default_planner_request_adapters/FixStartStateBounds
default_planner_request_adapters/FixStartStateCollision
default_planner_request_adapters/FixStartStatePathConstraints

I assume this is all from the move to moveit2 jazzy branch. As I'm still on humble, I fixed all this, so it would work for me, but perhaps a humble branch should be created? Or is that function currently done by the iron branch? As there is now the annin_ prefix to packages, I was thinking a new branch would make more sense?

I am also working on adding a prefix or tf_prefix to the .urdf-s, which I could then contribute to the package (probably to the iron/humble branch initially, as that is the one I'm working with)

[ycheng517]

Hi @oskarsVismanis I will make a humble branch in a short while. It'll take some effort to get Gazebo working again, as it was a big change to upgrade to Jazzy. Anyways stay tuned!