Moveit plugin for rviz recognizes number as string

asked 2022-02-15 11:11:30 -0500

Hi. I'm trying to port moveit2 on ros2 galactic for my robot. I adapted config files, but got

[rviz2-1] [ERROR] [1644944218.537004679] [moveit_background_processing.background_processing]: Exception caught while processing action 'loadRobotModel': parameter 'torso_central_joint_group.kinematics_solver_timeout' has invalid type: Wrong parameter type, parameter {torso_central_joint_group.kinematics_solver_timeout} is of type {double}, setting it to {string} is not allowed.

kinematics.yaml is

torso_central_joint_group:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.5
  kinematics_solver_timeout: 0.5
neck_group:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
left_arm_group:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05
right_arm_group:
  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05

As we can see, its double, but not string. How to fix it? Thanks

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