Ignition Gazebo sim moving past commanded pose

[MarqRazz]

Running Gazebo and commanding the arm with MoveIt I have seen issues with the arm not moving to the commanded pose, moving past the goal or some joint's continuing to move forever.

System Setup: c3pzero container running Humble and Gazebo Fortress

Here are some pic's of the goal pose and the ghost robot is showing the final pose of the arm as reported from simulation.

[abake48]

Was experiencing this as well in a host environment. One way I was easily able to replicate this consistently using MoveIt:

• Have Velocity and Acceleration scaled to 0.1 (the default)
• Set goal to "random valid"
• click "Plan and Execute"
• during the execution of the trajectory, click "Stop"
• Observe the arm continue to move while Rviz states that trajectory execution has "Stopped"

https://github.com/PickNikRobotics/ros2_kortex/assets/7244387/068c476b-b3f8-4324-aa29-8feabbd399bd

[abake48]

Leaving this note here for myself or who ever is motivated to tackle this.

One suggestions for a possible workaround or solution is to increase the effort parameter of each of the joints