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hello-robot / stretch_ros2

ROS 2 packages for the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/ros2/
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Keyboard teleoping the base in trajectory mode makes the trajectory server unresponsive #85

Open hello-chintan opened 8 months ago

hello-chintan commented 8 months ago

While keyboard teleoping in trajectory mode, base rotation and translation commands are not executed and a subsequent attempt to command the arm joints results in the warning

[stretch_driver-4] -------------------------------------------
[stretch_driver-4] Errored goal
[stretch_driver-4] [INFO] [1694724789.315578603] [stretch_driver]: stretch_driver joint_traj action: hardware failed to start trajectory
[stretch_driver-4] [INFO] [1694724790.156760851] [joint_trajectory_action]: Received goal request
[stretch_driver-4] [INFO] [1694724790.162989328] [stretch_driver]: stretch_driver joint_traj action: new traj with 2 points over 1.0 seconds
[stretch_driver-4] [WARNING] [base]: Base waypoint trajectory already active
[stretch_driver-4] -------------------------------------------