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PR2 / pr2_controllers

The controllers that run in realtime on the PR2 and supporting packages.
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race condition in single_joint_position_action (ros ticket #5170) #358

Closed ahendrix closed 11 years ago

ahendrix commented 11 years ago

if the position_joint_action action gets called before the query_state service of the associated controller is available, the actionlib call fails.

I think that single_joint_position_action should wait for its associated query_state service to become available before advertising its actionlib service.

This bug shows up sometimes in situations where the controller, the single_joint_position_action node, and a node that calls the position_joint_action are all started from the same launch file.

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ahendrix commented 11 years ago

[sglaser] The change in r53792 should mitigate this problem a bit (pr2_controllers 1.7.1).