@peterdavidfagan
Thank you very much for your support and suggestions. I found that this change was submitted to the main branch of moveit2 two days ago, but the official version should not be released yet. In order to reduce the scope of influence, this change cannot be merged in for the time being. We will After evaluating the update of moveit2, we will consider merging compatible work, thank you.

@peterdavidfagan
After thinking about it again, in order to be compatible with the two types of access to Plan members before and after moveit, we removed the code for directly accessing Plan members, and replaced some of the move_group interfaces to be called.
7752f1c

@peterdavidfagan
Thank you for your support. I also found this problem when I was compatible with the rolling version, but it was only compatible with the rolling branch of xarm_ros2 (not yet pushed to github), and I didn’t notice that the humble branch had this update.
Thank you for your timely discovery and suggestions. I checked the source code of ros2_control and found that the humble branch did add a few new variables, but the original variables (just marked as DEPRECATED) were retained. Considering that not all humble users will use them The latest ros2_control package, for better compatibility, will not apply this change of ros2_control until the original variable is not invalid.