moveit 报错what(): parameter ‘robot_description_planning.joint_limits.Left_Arm_Joint6.max_velocity

使用 moveit_setup_assistant 配置moveit2包 在humble下会出现错误，在config目录下的 joint_limit.yamls文件

# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed

# For beginners, we downscale velocity and acceleration limits.
# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
default_velocity_scaling_factor: 0.3
default_acceleration_scaling_factor: 0.3

# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
joint_limits:

  Neck_Joint1:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Neck_Joint2:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint1:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint2:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint3:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint4:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint5:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint6:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0
  Right_Arm_Joint7:
    has_velocity_limits: true
    max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0

下面的 max_velocity: 1
    has_acceleration_limits: false
    max_acceleration: 0数值都是整形数据，实际应是浮点型数据，改为1.0 0.0

编译运行，成功没有报错