[BUG]: Moveit configuration for jazzy release

[brammmieee]

Issue Description

When including the planning launch file in the main launch file moveit terminates due to multiple parameter issues.

Steps to Reproduce

Run the following command from the /alpha/alpha_bringup/launch folder after having built the project using colcon: ros2 launch ./alpha.launch.py use_planning:=true

Expected Behavior

After the expected Error from the moveit.moveit.ros.occupancy_map_monitor node saying "No 3D sensor plugin(s) defined for octomap updates" the following error will appear:

[move_group-1] terminate called after throwing an instance of 'rclcpp::ParameterTypeException'
[move_group-1]   what():  expected [string_array] got [string]

Error Message

No response

Runtime Environment

Dell laptop running Ubuntu 24.04 natively

Additional Context

No response

[brammmieee]

Changing the planning_pipelines.yaml to the following will resolve the issue:

/**:
  ros__parameters:
    default_planning_pipeline: ompl
    planning_pipelines: [pilz, ompl]
    pilz:
      planning_plugins: [pilz_industrial_motion_planner/CommandPlanner]
      start_state_max_bounds_error: 0.1
    ompl:
      planning_plugins: [ompl_interface/OMPLPlanner]
      request_adapters:
        - default_planner_request_adapters/AddTimeOptimalParameterization
        - default_planning_request_adapters/CheckForStackedConstraints
        - default_planning_request_adapters/CheckStartStateBounds
        - default_planning_request_adapters/CheckStartStateCollision
        - default_planning_request_adapters/ResolveConstraintFrames
        - default_planning_request_adapters/ValidateWorkspaceBounds
      start_state_max_bounds_error: 0.1

After that you will be met with another issue:

[FATAL] [1723815312.946491966] [move_group]: Exception while loading planning adapter plugin 'default_planner_request_adapters/AddTimeOptimalParameterization': According to the loaded plugin descriptions the class default_planner_request_adapters/AddTimeOptimalParameterization with base class type planning_interface::PlanningRequestAdapter does not exist. Declared types are  default_planning_request_adapters/CheckForStackedConstraints default_planning_request_adapters/CheckStartStateBounds default_planning_request_adapters/CheckStartStateCollision default_planning_request_adapters/ResolveConstraintFrames default_planning_request_adapters/ValidateWorkspaceBounds

Which can be solved by changing it to the following:

/**:
  ros__parameters:
    default_planning_pipeline: ompl
    planning_pipelines: [pilz, ompl]
    pilz:
      planning_plugins: [pilz_industrial_motion_planner/CommandPlanner]
      start_state_max_bounds_error: 0.1
    ompl:
      planning_plugins: [ompl_interface/OMPLPlanner]
      request_adapters:
        request_adapters:
          - default_planner_request_adapters/AddTimeOptimalParameterization
          - default_planning_request_adapters/CheckForStackedConstraints
          - default_planning_request_adapters/CheckStartStateBounds
          - default_planning_request_adapters/CheckStartStateCollision
          - default_planning_request_adapters/ResolveConstraintFrames
          - default_planning_request_adapters/ValidateWorkspaceBounds
      start_state_max_bounds_error: 0.1