moveit_servo /servo_node/delta_twist_cmds only giving singularity errors

[PreetDhami]

Description

I'm trying to adapt moveit_servo to a custom robot arm as part of a university capstone project. I have managed to be able to successfully send /servo_node/delta_joint_cmds to control the arm, but /servo_node/delta_twist_cmds keeps giving singularity errors no matter the input.

Your environment

• ROS Distro: Humble
• OS Version: e.g. Ubuntu 22.04

Steps to reproduce

My source code is all located here You should just be able to clone the code to a docker container, then build with colcon. To run, use:

ros2 launch rover_arm arm.launch.py

Then in a second terminal, publish a message such as this one below, but you can also play around with the values for the twist command:

ros2 topic pub --rate 10 --print 30 /servo_node/delta_twist_cmds geometry_msgs/msg/TwistStamped "{header: {frame_id: base_link, stamp: now}, twist: {linear: {x: 0.0, y: 0.0, z: -1.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}}"

Expected behaviour

/servo_node should publish some non-zero positions and velocitys to /rover_arm_controller/joint_tragectory when it receives a message on the /servo_node/delta_twist_cmds topic

Actual behaviour

Any non-zero input for /servo_node/delta_twist_cmds leads to /rover_arm_controller/joint_tragectory recieving 'nan' values. Also I get the following warning messages:

Whenever a topic is published to /servo_node/delta_joint_cmds, the code behaves as expected which can be checked by subscribing to the /rover_arm_controller/joint_tragectory topic. Publish a message such as this one to check:

ros2 topic pub --rate 10 --print 30 /servo_node/delta_joint_cmds control_msgs/msg/JointJog "{header: {frame_id: base_joint, stamp: now}, joint_names: [wrist_roll_joint], velocities: [1.0]}"

I believe that this is an issue with my config in some way. But I really don't know what the issue is.

[github-actions[bot]]

This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.

[github-actions[bot]]

This issue was closed because it has been stalled for 45 days with no activity.