Fix MoveIt planning by defining joint acceleration limits

[leochien1110]

Summary

This PR fixes a MoveIt planning failure by defining nonzero acceleration limits in openarm_bimanual_moveit_config/config/joint_limits.yaml.

What I observed

Using the MoveIt demo launch with fake hardware:

ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=true

RViz and the Motion Planning panel start correctly, and the robot model is visible, but pressing Plan or Plan & Execute fails.

I reproduced this in:

• Ubuntu 24.04
• macOS (RoboStack)
• Both are running with Jazzy Distro.

I also verified the same behavior against both upstream main and jazzy.

Important scope note

I have not tested this on real hardware.

So this PR is based on the fake/demo workflow (use_fake_hardware:=true). It is possible that real hardware workflows were not affected in the same way, but the MoveIt config currently lacks usable acceleration limits for trajectory time parameterization, which appears to be a configuration issue regardless.

Root cause

The MoveIt config defines velocity limits, but acceleration limits are disabled in:

• openarm_bimanual_moveit_config/config/joint_limits.yaml

For example, the joints were configured like this:

has_acceleration_limits: false
max_acceleration: 0.0

However, the configured planning response adapter:

• default_planning_response_adapters/AddTimeOptimalParameterization

requires acceleration limits in order to generate a time-parameterized trajectory.

Without them, planning fails.

Fix in this PR

This PR enables acceleration limits and assigns conservative nonzero acceleration values so MoveIt can complete time parameterization and produce a valid trajectory.

Why these values

The max_acceleration: 5.0 values used here are intended as conservative placeholder values to restore planning behavior.

I am not claiming these are the authoritative hardware acceleration limits. If there is a better source for canonical acceleration limits (URDF, hardware specs, internal tuning, etc.), maintainers may want to replace these values accordingly.

Validation performed

Tested with:

colcon build --symlink-install --packages-up-to openarm_bringup openarm_description openarm_bimanual_moveit_config
source install/setup.zsh
ros2 launch openarm_bimanual_moveit_config demo.launch.py use_fake_hardware:=true

Before this change:

• MoveIt launched
• planning failed at time parameterization

After this change:

• fake hardware launches successfully
• controllers load successfully
• MoveIt no longer fails with the missing-acceleration-limits error during planning

Error details

Terminal error output before this fix

[move_group-3] [INFO] [...] Calling PlanningResponseAdapter 'AddTimeOptimalParameterization'
[move_group-3] [ERROR] [...] No acceleration limit was defined for joint openarm_left_joint1! You have to define acceleration limits in the URDF or joint_limits.yaml
[move_group-3] [ERROR] [...] Response adapter 'AddTimeOptimalParameterization' failed to generate a trajectory.
[move_group-3] [ERROR] [...] PlanningResponseAdapter 'AddTimeOptimalParameterization' failed with error code FAILURE
[move_group-3] [INFO] [...] FAILURE
[rviz2-4] [ERROR] [...] MoveGroupInterface::move() failed or timeout reached

Notes

• This was reproduced in fake hardware mode.
• I did not validate on physical hardware.
• If preferred, I can also open a follow-up issue or adjust the acceleration values based on maintainers' guidance.