Moveit: Default velocity and acceleration scaling factor do not affect RViz interface

[ShotaAk]

Description

The values of default_velocity_scaling_factor and default_acceleration_scaling_factor in the joint_limits.yaml
do not affect RViz interface.

Your environment

• ROS Distro: Noetic
• OS Version: Ubuntu 20.04
• Binary build
• If binary, which release version? ros-noetic-moveit-core : 1.1.0-1focal.20200930.003439 amd64

Steps to reproduce

1. Edit joint_limits.yaml like this.

joint_limits:
  default_velocity_scaling_factor: 1.0
  default_acceleration_scaling_factor: 1.0

1. Launch move_group, RViz, etc..

Expected behaviour

Scaling factors in RViz will be 1.0.

Actual behaviour

Scaling factors in RViz are 0.1.

[welcome[bot]]

Thanks for reporting an issue. Because we're a volunteer community, providing a pull request with suggested changes is always welcomed.

[rhaschke]

The problem is your joint_limits.yaml. You need to define the scaling factors at the top level:

joint_limits:
  panda_joint1:
    has_velocity_limits: true
    max_velocity: 2.1750
    has_acceleration_limits: true
    max_acceleration: 3.75

default_velocity_scaling_factor: 1.0
default_acceleration_scaling_factor: 1.0

[ShotaAk]

@rhaschke Thank you for your comments.
This solution is good for RViz but not for moveit_commander.
RViz's motion plan be fast, moveit_commander's motion plan be slow.

I checked this PR ( https://github.com/ros-planning/moveit/pull/1890/files ) ,
It seems the move_group_interface gets robot_description_planning/joint_limits/default_velocity_scaling_factor ,
but the motion_planning_frame gets robot_description_planning/default_velocity_scaling_factor parameter.

The parameter names not match.

Should I fix the joint_limits.yaml like this?

default_velocity_scaling_factor: 1.0
default_acceleration_scaling_factor: 1.0

joint_limits:
  default_velocity_scaling_factor: 1.0
  default_acceleration_scaling_factor: 1.0

[rhaschke]

Oops. Thanks for this hint. This is a real bug! Could you prepare a PR removing joint_limits in the move_group_interface, please?

[ShotaAk]

Sure. :+1: