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"robot within 18 degs of the joint limit during a trajectory [..] cause [..] MotoROS [..] to hang indefinitely" #505

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gavanderhoorn opened this issue Jun 6, 2022 · 0 comments
Open

"robot within 18 degs of the joint limit during a trajectory [..] cause [..] MotoROS [..] to hang indefinitely" #505

gavanderhoorn opened this issue Jun 6, 2022 · 0 comments
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bug more-info-needed Waiting on additional information from poster

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@gavanderhoorn
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Originally from SouthieAutonomy#2:

Fix issue with planning over full joint space. There is an interesting bug within MotoROS that if the robot is within 18 degs of the joint limit during a trajectory, the robot will enter a state much similar to the one mentioned above and cause both MotoROS and any application talking through MotoROS to hang indefinitely. Also, this throws a warning.

I've asked @jaymwong for additional information, but he hasn't responded.

I don't know whether this is a problem in MotoROS, motoman_driver or somewhere else.
@gavanderhoorn gavanderhoorn added bug more-info-needed Waiting on additional information from poster labels Jun 6, 2022
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