Error in Moveit2 tutorials -- Motion Planning Python API: with planning_scene_monitor.read_write() as scene: [motion_planning_python_api_planning_scene.py-1] TypeError: Unable to convert function return value to a Python type!

[Pittmann-XIE]

Hey, I am following this tutorial "https://moveit.picknik.ai/main/doc/examples/motion_planning_python_api/motion_planning_python_api_tutorial.html#getting-started" and encountered the following error.

Problem

I ran the first part of this tutorial successfully:
ros2 launch moveit2_tutorials motion_planning_python_api_tutorial.launch.py

Then I killed this process and tried to do the second part. As I ran the command:
ros2 launch moveit2_tutorials motion_planning_python_api_tutorial.launch.py example_file:=motion_planning_python_api_planning_scene.py.
I received this error:

[moveit_515746186.moveit.ros.trajectory_execution_manager]: Trajectory execution is managing controllers
[motion_planning_python_api_planning_scene.py-1] [INFO] [1731509289.965633545] [moveit_py_planning_scene]: MoveItPy instance created
[motion_planning_python_api_planning_scene.py-1] TypeError: Unregistered type : planning_scene::PlanningScene
[motion_planning_python_api_planning_scene.py-1]
[motion_planning_python_api_planning_scene.py-1] The above exception was the direct cause of the following exception:
[motion_planning_python_api_planning_scene.py-1]
[motion_planning_python_api_planning_scene.py-1] Traceback (most recent call last):
[motion_planning_python_api_planning_scene.py-1] File "/home/ibrahim-hhi/ws_2/ws_ros_jazzy/ws_moveit/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_planning_scene.py", line 144, in
[motion_planning_python_api_planning_scene.py-1] main()
[motion_planning_python_api_planning_scene.py-1] File "/home/ibrahim-hhi/ws_2/ws_ros_jazzy/ws_moveit/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_planning_scene.py", line 94, in main
[motion_planning_python_api_planning_scene.py-1] add_collision_objects(planning_scene_monitor)
[motion_planning_python_api_planning_scene.py-1] File "/home/ibrahim-hhi/ws_2/ws_ros_jazzy/ws_moveit/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_planning_scene.py", line 54, in add_collision_objects
[motion_planning_python_api_planning_scene.py-1] with planning_scene_monitor.read_write() as scene:
[motion_planning_python_api_planning_scene.py-1] TypeError: Unable to convert function return value to a Python type! The signature was
[motion_planning_python_api_planning_scene.py-1] (self: moveit.planning.LockedPlanningSceneContextManagerRW) -> planning_scene::PlanningScene
[INFO] [ros2 run controller_manager spawner panda_hand_controller-7]: process has finished cleanly [pid 514448]
[motion_planning_python_api_planning_scene.py-1] [INFO] [1731509289.977328094] [moveit_515746186.moveit.ros.moveit_cpp]: Deleting MoveItCpp
[INFO] [ros2 run controller_manager spawner joint_state_broadcaster-8]: process has finished cleanly [pid 514449]
[motion_planning_python_api_planning_scene.py-1] [INFO] [1731509289.992207564] [moveit_515746186.moveit.ros.planning_scene_monitor]: Stopped publishing maintained planning scene.
[motion_planning_python_api_planning_scene.py-1] [INFO] [1731509289.994468726] [moveit_515746186.moveit.ros.planning_scene_monitor]: Stopping world geometry monitor
[motion_planning_python_api_planning_scene.py-1] [INFO] [1731509289.994921745] [moveit_515746186.moveit.ros.planning_scene_monitor]: Stopping planning scene monitor
[INFO] [ros2 run controller_manager spawner panda_arm_controller-6]: process has finished cleanly [pid 514447]
[ERROR] [motion_planning_python_api_planning_scene.py-1]: process has died [pid 514442, exit code 1, cmd '/home/ibrahim-hhi/ws_2/ws_ros_jazzy/ws_moveit/install/moveit2_tutorials/lib/moveit2_tutorials/motion_planning_python_api_planning_scene.py --ros-args -r __node:=moveit_py --params-file /tmp/launch_params_7y_yvm98'].

Does anyone know how to fix this problem? Thanks in advance.

System:

Ubuntu 24.04
Ros version: ros2-jazzy
Moveit Tutorial: cloned from "main" branch
Moveit2 installation: https://moveit.picknik.ai/main/doc/tutorials/getting_started/getting_started.html

[Lydaidai]

Same env and same problem, is there any update? Looks like a compatibility issue with the Python API.

[Lydaidai]

Hi, I solved this by adding from moveit.core.planning_scene import PlanningScene.