good second issuehelp wantedquestion
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Description
Configuration
- ros2_controllers fork: https://github.com/eholum/ros2_controllers/tree/pr-erh-add-errors
- ROS_DISTRO:
humble
Describe the bug
When constraints.goal_time = 0.0 and there is constraints.<joint_name>.goal that is different than zero and can't be satisfied we always end up here and the action result is never returned.
I am not sure this is desired behavior. What are your impressions?
To Reproduce Steps to reproduce the behavior:
- Use https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver and change this part into:
shoulder_pan_joint: { trajectory: 0.2, goal: 0.001 }
shoulder_lift_joint: { trajectory: 0.2, goal: 0.001 }
elbow_joint: { trajectory: 0.2, goal: 0.001 }
wrist_1_joint: { trajectory: 0.2, goal: 0.001 }
wrist_2_joint: { trajectory: 0.2, goal: 0.001 }
wrist_3_joint: { trajectory: 0.2, goal: 0.001 }
- Use https://github.com/UniversalRobots/Universal_Robots_ROS2_Description and change this part to:
<param name="position_state_following_offset">-0.005</param>
which will make sure you never reach goal.
- Send action goal and see the result not returning.