fix move_group_capabilities usage (#3018) (#3034)

(cherry picked from commit 56d1ab1)

Co-authored-by: Michael Ferguson <mfergs7@gmail.com>
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>

moveit_configs_utils/moveit_configs_utils/launches.py

@@ -204,7 +204,12 @@ def generate_move_group_launch(moveit_config):
         )
     )
     # inhibit these default MoveGroup capabilities (space separated)
-    ld.add_action(DeclareLaunchArgument("disable_capabilities", default_value=""))
+    ld.add_action(
+        DeclareLaunchArgument(
+            "disable_capabilities",
+            default_value=moveit_config.move_group_capabilities["disable_capabilities"],
+        )
+    )
 
     # do not copy dynamics information from /joint_states to internal robot monitoring
     # default to false, because almost nothing in move_group relies on this information

moveit_configs_utils/moveit_configs_utils/moveit_configs_builder.py

@@ -108,7 +108,9 @@ class MoveItConfigs:
     # A dictionary that has the sensor 3d configuration parameters.
     sensors_3d: Dict = field(default_factory=dict)
     # A dictionary containing move_group's non-default capabilities.
-    move_group_capabilities: Dict = field(default_factory=dict)
+    move_group_capabilities: Dict = field(
+        default_factory=lambda: {"capabilities": "", "disable_capabilities": ""}
+    )
     # A dictionary containing the overridden position/velocity/acceleration limits.
     joint_limits: Dict = field(default_factory=dict)
     # A dictionary containing MoveItCpp related parameters.