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