rdf_loader second constructor needs ros_name default variable set too

[jdgre1]

Description

Steps to reproduce:

1. When calling RobotModelLoader::configure at the statement below

   moveit2/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp

   Line 111 in 7d6e2ab

   rdf_loader_ = std::make_shared<rdf_loader::RDFLoader>(opt.urdf_string_, opt.srdf_string);

   we initialise an rdf_loader with ros_name_set to "".
   As shown currently ros_name_ is not set in the second constructor for the rd_loader_
   

   moveit2/moveit_ros/planning/rdf_loader/src/rdf_loader.cpp

   Line 91 in 7d6e2ab

   : urdf_string_(urdf_string), srdf_string_(srdf_string)

2. Then when attempting to create a kinematic plugin loader below at line 268

   moveit2/moveit_ros/planning/robot_model_loader/src/robot_model_loader.cpp

   Line 268 in 7d6e2ab

   std::make_shared<kinematics_plugin_loader::KinematicsPluginLoader>(node_, rdf_loader_->getRobotDescription());

   we are returned an empty string from getRobotDescription() as shown
   The getRobotDescription() method returns ros_name_ which is currently set to "":
   

   moveit2/moveit_ros/planning/rdf_loader/include/moveit/rdf_loader/rdf_loader.hpp

   Line 85 in 7d6e2ab

   return ros_name_;

   The KinematicsPluginLoader object then sets it's robot_description_ to an empty string as shown in it's constructor.
   

   moveit2/moveit_ros/planning/kinematics_plugin_loader/include/moveit/kinematics_plugin_loader/kinematics_plugin_loader.hpp

   Line 61 in 7d6e2ab

   , robot_description_(robot_description)

3. At line 260 of kinematics_plugin_loader the kinematics_param_prefix is set with an empty string from robot_desription_ leading to a string starting with "_kinematics."

   moveit2/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

   Line 260 in 7d6e2ab

   std::string kinematics_param_prefix = robot_description_ + "_kinematics." + known_group.name_;

   The kinematics_solver_param_name is then set based on the kinematics_param_prefix variable as depicted

   moveit2/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

   Line 265 in 7d6e2ab

   std::string kinematics_solver_param_name = kinematics_param_prefix + ".kinematics_solver";

4. This cases the error to be logged:

   moveit2/moveit_ros/planning/kinematics_plugin_loader/src/kinematics_plugin_loader.cpp

   Line 270 in 7d6e2ab

   RCLCPP_DEBUG(logger_, "No kinematics solver specified for group '%s'.", known_group.name_.c_str());

   [DEBUG 1753159891.197749171] [operation_solver.moveit.core.robot_state]: No kinematics solver instantiated for group 'manipulator' (setFromIK() at /home/ros/ros2/src/moveit2/moveit_core/robot_state/src/robot_state.cpp:1863)

Checklist

• [x ] Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[mjimenezm00]

This PR actually fixes this bug: #3504