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Fix TrajectoryExecutionManager rejecting unrecognized parameters#3689

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PierceCoyle:fix/trajectory-execution-param-callback
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Fix TrajectoryExecutionManager rejecting unrecognized parameters#3689
PierceCoyle wants to merge 1 commit into
moveit:mainfrom
PierceCoyle:fix/trajectory-execution-param-callback

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@PierceCoyle PierceCoyle commented Feb 23, 2026

Description

The on_set_parameters_callback in TrajectoryExecutionManager::initialize() has an else block that rejects all parameters that it doesn't recognize. This crashes MoveItPy with use_sim_time = True, resulting in the error message:

terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException'
  what():  parameter 'qos_overrides./clock.subscription.durability' could not be set: 
Aborted (core dumped)

The else block itself seems to be an anti-pattern mentioned in the comments of rclcpp's node.hpp.

Tested on ROS2 Jazzy, Ubuntu 24.04.

Resolves #2940
Related #2220, ros2/rclcpp#1587

Checklist

  • Required by CI: Code is auto formatted using clang-format
  • Extend the tutorials / documentation reference
  • Document API changes relevant to the user in the MIGRATION.md notes
  • Create tests, which fail without this PR reference
  • Include a screenshot if changing a GUI
  • While waiting for someone to review your request, please help review another open pull request to support the maintainers

AravindhDeivaG pushed a commit to AravindhDeivaG/moveit2 that referenced this pull request Mar 21, 2026
@mergify @riv-mjohnson
Ports moveit1 moveit#3689 (backport moveit#3357) (moveit#3364)
a77e957 
(cherry picked from commit e2b24f5)

Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
stephanie-eng pushed a commit to stephanie-eng/moveit2 that referenced this pull request Mar 25, 2026
@mergify @riv-mjohnson
Ports moveit1 moveit#3689 (moveit#3357) (moveit#3365)
e221d64 
(cherry picked from commit e2b24f5)

Co-authored-by: Mark Johnson <104826595+rr-mark@users.noreply.github.com>
DanielWang123321 pushed a commit to DanielWang123321/moveit2 that referenced this pull request May 18, 2026
@riv-mjohnson
Ports moveit1 moveit#3689 (moveit#3357)
e2b24f5 
* Renames .hpp files to .h to help cherry pick.

* Publish planning scene while planning (moveit#3689)

So far, the PSM's planning scene was locked during planning, thus stopping any PS updates in rviz.
Instead of locking the PSM's current scene, we use an independent clone of that scene for planning. To this end, PlanningSceneMonitor::copyPlanningScene() and ExecutableMotionPlan::copyPlanningScene() were added.

* Renames .h files back to .hpp.

* Updates message types to ros2.

* Updates to use new variable names.

* Undoes erroneous autoformatting.
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moveit_py -> use_sim_time: True fetching Error rclcpp::exceptions::InvalidParameterValueException

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