Ros2ControlManager does not set command_joint

[jsupratman13]

Description

MoveItSimpleControllerManager explicitly calls ParallelGripperCommandControllerHandle::setCommandJoint() to set the gripper joint name, allowing the ParallelGripperCommandControllerHandle to extract the correct joint from the trajectory and forward the command to the gripper action server.

moveit2/moveit_plugins/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp

Line 174 in 1c4587a

static_cast<GripperCommandControllerHandle*>(new_handle.get())->setCommandJoint(command_joint);

moveit2/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/parallel_gripper_command_controller_handle.hpp

Lines 149 to 152 in 1c4587a

	void setCommandJoint(const std::string& name)
	{
	command_joint_ = name;
	}

In contrast, Ros2ControlManager never calls ParallelGripperCommandControllerHandle::setCommandJoint().
As a result, ParallelGripperCommandControllerHandle is constructed with an empty command_joint_. When a trajectory is received, the controller attempts to find this empty joint name in trajectory.joint_trajectory.joint_names, fails, and logs the following error:

moveit2/moveit_plugins/moveit_simple_controller_manager/include/moveit_simple_controller_manager/parallel_gripper_command_controller_handle.hpp

Line 126 in 1c4587a

RCLCPP_ERROR(logger_, "Received trajectory does not include a command for joint name %s.", command_joint_.c_str());

ROS Distro

Jazzy

OS and version

Ubuntu 24.04

Source or binary build?

Binary

If binary, which release version?

2.12.4

If source, which branch?

No response

Which RMW are you using?

None

Steps to Reproduce

Modify the moveit_controllers.yaml to use Ros2ControlManager

moveit_controller_manager: moveit_ros_control_interface/Ros2ControlManager

and prepare a gripper to use ros2 control parallel gripper controller

Expected behavior

Plan and send trajectory to gripper action server via moveit

Actual behavior

Able to plan but unable to send trajectory to gripper action server via moveit but instead prints the following log

Received trajectory does not include a command for joint name .

Backtrace or Console output

No response