ur_moveit_config: Assure the description is loaded as string

[urfeex]

Otherwise the description might get loaded as yaml under certain situations.

As noted in #1103 (comment)

@katallen405 would you like to test that?

[katallen405]

Maybe I am doing it wrong (I had been using the released binary and am building from source from that patch's branch now) but I can not colcon build the branch because of ur_controllers. It is missing ros2_control_test_assets (which I do not know where to find)

 CMake Error at /opt/ros/humble/share/ament_cmake_gmock/cmake/ament_add_gmock.cmake:69 (add_executable):
  Target "test_load_freedrive_mode_controller" links to target
  "ros2_control_test_assets::ros2_control_test_assets" but the target was not
  found.  Perhaps a find_package() call is missing for an IMPORTED target, or
  an ALIAS target is missing?
Call Stack (most recent call first):
  /opt/ros/humble/share/ament_cmake_gmock/cmake/ament_add_gmock.cmake:52 (_ament_add_gmock)
  CMakeLists.txt:186 (ament_add_gmock)

I am able to build the humble branch, just not the patch branch

[urfeex]

I am able to build the humble branch, just not the patch branch

That seems highly unlikely given the fact that the differences between the two are only in a launch file. But there could be intransparent side effects if you still have the binary packages installed.

It is missing ros2_control_test_assets (which I do not know where to find)

The best way to find missing dependencies is rosdep. To find a specific package, you can run

$ rosdep resolve ros2_control_test_assets
#apt
ros-humble-ros2-control-test-assets

Or to install all direct dependencies:

$ rosdep install --from-paths . --ignore-src -y

When building a package from source it is advisable to remove its binary installations:

$ sudo apt remove ros-humble-ur-robot-driver ros-humble-ur-controllers ros-humble-moveit-config ros-humble-ur ros-humble-ur-calibration ros-humble-ur-dashboard-msgs