Is there a way to add a generic namespace here that can be determined at runtime? The parameters for IK plugins actually come in the form robot_description_kinematics.<group_name>.<param_name> (i.e. for the panda arm, the solver mode is robot_description_kinematics.panda_arm.mode). None of the parameters here are actually being retrieved from kinematics.yaml.

btw, sorry for the delay on this--been pulled into a lot of debugging recently.

I think that is a misuse of namespaces and a poorly designed interface. Is there a reason you might have multiples of bio_ik in the same ros node that need to have separate namespaces for the parameters?

Remember that in ROS 2 parameters are per-node and not part of some global parameter server.

We'd need to make that change in MoveIt then, as it reads kinematics.yaml and sets those parameters. Or, you could potentially get rid of the group name in the yaml file and the parameters would just be robot_description_kinematics.param_name

The only possible use case I can think of is computing IK for multiple arms simultaneously, but if they're a part of the same group then you'd only need one bio_ik instance.