Tutorial inconsistent movegroup naming

[alejandrojginerd]

Description

Overview of your issue here.

Your environment

• ROS Distro: [Humble] (Docker)
• OS Version: e.g. Ubuntu 22.04
• Source build

Steps to reproduce

Following "Your First C++ MoveIt Project" tutorial.

// Create the MoveIt MoveGroup Interface
using moveit::planning_interface::MoveGroupInterface;
auto move_group_interface = MoveGroupInterface(node, "manipulator"); //<--- this is the error 

// Set a target Pose
auto const target_pose = []{
  geometry_msgs::msg::Pose msg;
  msg.orientation.w = 1.0;
  msg.position.x = 0.28;
  msg.position.y = -0.2;
  msg.position.z = 0.5;
  return msg;
}();
move_group_interface.setPoseTarget(target_pose);

// Create a plan to that target pose
auto const [success, plan] = [&move_group_interface]{
  moveit::planning_interface::MoveGroupInterface::Plan msg;
  auto const ok = static_cast<bool>(move_group_interface.plan(msg));
  return std::make_pair(ok, msg);
}();

// Execute the plan
if(success) {
  move_group_interface.execute(plan);
} else {
  RCLCPP_ERROR(logger, "Planning failed!");
}

Expected behaviour

Console ouput when runnning ros2 launch moveit2_tutorials demo.launch.py

[INFO] [1726223793.098367005] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 1.01257 seconds
[INFO] [1726223793.098575034] [moveit_robot_model.robot_model]: Loading robot model 'panda'...
[WARN] [1726223793.125028796] [moveit_ros.robot_model_loader]: No kinematics plugins defined. Fill and load kinematics.yaml!
[FATAL] [1726223793.125237385] [move_group_interface]: Group 'manipulator' was not found.
terminate called after throwing an instance of 'std::runtime_error'
  what():  Group 'manipulator' was not found.
[ros2run]: Aborted

Possible Solution

Looking at src/moveit_resources/panda_moveit_config/config/panda.srdf we noticed that the robot used calls the movegroup "panda_arm". Changing the MoveGroupInterface name from "manipulator" to "panda_arm" solves the issue

[sea-bass]

The main branch of this repo uses a Kinova arm model that does have a manipulator group -- you may want to clone the humble branch of this repo and follow along with the Franka example there.