➕ add test MoveitCpp node

rasms_description/config/rasms.rviz

@@ -6,7 +6,6 @@ Panels:
       Expanded:
         - /Global Options1
         - /Status1
-        - /RobotModel1
       Splitter Ratio: 0.5
     Tree Height: 787
   - Class: rviz_common/Selection
@@ -43,68 +42,74 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /robot_description
+    - Class: moveit_rviz_plugin/PlanningScene
       Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Name: RobotModel
-      TF Prefix: ""
-      Update Interval: 0
+      Move Group Namespace: ""
+      Name: PlanningScene
+      Planning Scene Topic: /monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 0.8999999761581421
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          world:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+        Robot Alpha: 1
+        Show Robot Collision: false
+        Show Robot Visual: true
       Value: true
-      Visual Enabled: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
-    Fixed Frame: base
+    Fixed Frame: world
     Frame Rate: 30
   Name: root
   Tools:
@@ -144,25 +149,25 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz_default_plugins/Orbit
-      Distance: 1.4318417310714722
+      Distance: 2.053321123123169
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Focal Point:
-        X: 0.01542382501065731
-        Y: -0.006365143693983555
-        Z: 0.15774454176425934
+        X: 0.35200047492980957
+        Y: 0.026240859180688858
+        Z: 0.2903156876564026
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5703980326652527
+      Pitch: 0.7903980612754822
       Target Frame: <Fixed Frame>
       Value: Orbit (rviz)
-      Yaw: 0.5603898763656616
+      Yaw: 5.348577976226807
     Saved: ~
 Window Geometry:
   Displays:

rasms_description/urdf/rasms.gazebo.xacro

@@ -5,6 +5,7 @@
         <!-- ros_control-plugin -->
         <gazebo>
             <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
+                <robot_sim_type>gazebo_ros2_control/GazeboSystem</robot_sim_type>
                 <parameters>$(find rasms_moveit_config)/config/rasms_controllers.yml</parameters>
                 <robotNamespace>/rasms</robotNamespace>
             </plugin>