Lss arm not responding to planned actions in rViz

I have migrated the lss arm project to the Humble ROS distro by making a branch from the Iron branch.

As long as I’ve tested, the migration seems to work ok, but I’ve ben struggling with this error:

[ruby $(which ign) gazebo-1] [INFO] [1726670562.952811619] [gripper_action_controller]: Received & accepted new action goal
[move_group-4] [WARN] [1726670563.196120306] [moveit_ros.planning_scene_monitor.planning_scene_monitor]: The complete state of the robot is not yet known.  Missing lss_arm_joint_7
[move_group-4] [WARN] [1726670563.503996269] [moveit.simple_controller_manager.gripper_controller_handle]: waitForExecution timed out
[move_group-4] [ERROR] [1726670563.504074549] [moveit_ros.trajectory_execution_manager]: Controller is taking too long to execute trajectory (the expected upper bound for the trajectory execution was 0.500000 seconds). Stopping trajectory.
[ruby $(which ign) gazebo-1] [INFO] [1726670563.504479900] [gripper_action_controller]: Got request to cancel goal
[ruby $(which ign) gazebo-1] [INFO] [1726670563.504519465] [gripper_action_controller]: Canceling active action goal because cancel callback received.
[rviz2-5] [ERROR] [1726670563.515105415] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached

The steps to replicate it are:

  1. setup and build the project as described in the readme
  2. generate a 5dof arm sdf file
  3. launch the gazebo and rViz with the following command:
ros2 launch lss_arm_moveit sim_arm_control.launch.py dof:=5
  1. use rViz to plan some action, execute it and look at the logs

@luricl Apologies in advance for the delay - the lead designer for the ROS library is working on a priority project.

Sorry, but I think I didn’t really understand what you mean

Hello @luricl

Sorry for the delay.

The issue seems to be with the “lss_arm_joint_7” which is the second finger, the difference with the rest of the joints is that one mimics the other finger (joint_6). The reason for that is that in the real arm the fingers are actuated with the same motor so it didn’t make sense to add a controller for a joint that does not exist. In Galactic the mimic joint worked just fine with the simulation, but for Humble caused issues so I removed it, but seems like that has caused other issues.

Not sure if this might be related but in case it helps:

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Hi @geraldinebc15! Thanks for your reply!

I still haven’t been able to use the full arm due to a problem in the gripper_action_controller, wich makes the gripper to be unable to use. I’ve described the problem better in here