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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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"robot within 18 degs of the joint limit during a trajectory [..] cause [..] MotoROS [..] to hang indefinitely" #505

Open gavanderhoorn opened 2 years ago

gavanderhoorn commented 2 years ago

Originally from https://github.com/SouthieAutonomy/motoman/issues/2:

Fix issue with planning over full joint space. There is an interesting bug within MotoROS that if the robot is within 18 degs of the joint limit during a trajectory, the robot will enter a state much similar to the one mentioned above and cause both MotoROS and any application talking through MotoROS to hang indefinitely. Also, this throws a warning.

I've asked @jaymwong for additional information, but he hasn't responded.

I don't know whether this is a problem in MotoROS, motoman_driver or somewhere else.