Humble Source and Binary different with ompl planners

[ahn1938549]

Description

Overview of your issue here.

Your environment

• ROS Distro: [Humble]
• OS Version: Ubuntu 22.04
• Source or Binary build? Binary
• If binary apt-ros-humble-moveit
• If source, which branch? git humble branch
• Which RMW (Fast DDS or Cyclone DDS)? Humble or Rolling should be using Cyclone.

Steps to reproduce

Tell us how to reproduce this issue. Attempt to provide a working demo, perhaps using Docker.

Expected behaviour

Tell us what should happen
When I"m using ompl planner to

Like
moveit_msgs::msg::OrientationConstraint orientation_constraint;
moveit_msgs::msg::Constraints orientation_constraints;
orientation_constraint.absolute_x_axis_tolerance = 3.14;
orientation_constraint.absolute_y_axis_tolerance = 3.14;
orientation_constraint.absolute_z_axis_tolerance = 3.14;
orientation_constraints.orientation_constraints.emplace_back(orientation_constraint);
move_group_->setPathConstraints(orientation_constraints);

even it's almost not constraints motion just moveit2 stuck on somewhere

[move_group-1] [INFO] [1721890419.513828154] [moveit_move_group_default_capabilities.move_action_capability]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[move_group-1] [WARN] [1721890419.516572647] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.517029779] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.517131139] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.517278986] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [INFO] [1721890419.517840695] [moveit.ompl_planning.model_based_planning_context]: Planner configuration 'fr5_manipulator' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[move_group-1] [WARN] [1721890419.520029419] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.520146151] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.520244921] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890419.520110500] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [INFO] [1721890419.520389245] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890419.520519255] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890419.520564658] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890419.520543543] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [WARN] [1721890419.531764163] [moveit.ompl_planning.constrained_goal_sampler]: More than 80% of the sampled goal states fail to satisfy the constraints imposed on the goal sampler. Is the constrained sampler working correctly?
[move_group-1] [WARN] [1721890423.295785751] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890423.295856075] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890423.295879560] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [WARN] [1721890423.295935286] [moveit_kinematic_constraints.kinematic_constraints]: The weight on constraint for joint 'j3' is very near zero. Setting to 1.0.
[move_group-1] [INFO] [1721890423.296118316] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890423.296409000] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890423.296216790] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space
[move_group-1] [INFO] [1721890423.296530661] [moveit.ompl_planning.model_based_planning_context]: fr5_manipulator: Allocating specialized state sampler for state space

---

on my launch file

planning_pipeline = {
    "planning_pipelines": ["ompl"],
    "default_planning_pipeline": "ompl",
    "ompl": {
        "planning_plugin": "ompl_interface/OMPLPlanner",
        "request_adapters": "default_planner_request_adapters/AddTimeOptimalParameterization default_planner_request_adapters/ResolveConstraintFrames default_planner_request_adapters/FixWorkspaceBounds default_planner_request_adapters/FixStartStateBounds default_planner_request_adapters/FixStartStateCollision default_planner_request_adapters/FixStartStatePathConstraints",
        "start_state_max_bounds_error": 0.31416,
    },
}
ompl_planning_yaml = load_yaml("fr_robot_moveit_config", "config/ompl_planning.yaml")
planning_pipeline["ompl"].update(ompl_planning_yaml)

---

on apt build even don't return timed_out and even don't get constraint weight

but on source build it's working very well. I just want to know something is different on source and apt

[github-actions]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[mikeferguson]

Debians for Humble are quite out of date and we should really just put out a new release - #3012