move_group action client freezes after unsuccessful plan

[AndrejOrsula]

If planning fails, no action result is received (not even error)

Possible causes:

• Config for move_group node panda_moveit2_config/launch/move_group_action_server.launch.py (no execution, just planning) has issue upstream
  • Investigate ...
• Try sending stop action upon timeout to see what behaviour it causes

Will try latest MoveIt2 before continuing...

[AndrejOrsula]

This issue is caused by using simulated time for move_group node!

My suspicion is that it originates somewhere in IK solver.

[AndrejOrsula]

I will look through the code to find the bug once I get time...

Until then, make sure to use move_group node with real time.

[AndrejOrsula]

move_group node seems to be just fine when using real time. I kept a TODO note about it in https://github.com/AndrejOrsula/ign_moveit2/blob/joint_trajectory_controller/launch/ign_moveit2.launch.py

Closing for now