Description

Lines
trajectory_execution_manager.cpp L920 and L1456 are throwing errors regularly due to csm_->waitForCurrentState returning false.

After not seeing debug output, I built from source and added some debug statements to above methods, and then to jointStateCallback to track the joint state updates.

The updates are coming in at the expected 10 hz, but they appear to be lagging almost 1 second vs. the when I echo the JointState topic to console.

I see that there have been a number of recent updates including some related to these methods #232, and was curious if anyone else has seen this issue.

Your environment

• ROS Distro: Kinetic
• OS Version: Ubuntu 16.04
• Source or Binary build? Both
• If binary, which release version? Occurred with latest kinetic release - specific version later
• If source, which git commit or tag? 026f979

Steps to reproduce

Using an internal model of Kinova Mico arm with Kinect-based point cloud for Octomap updating of planning scene.

Expected behaviour

Joint states are published and updated at 10 hz. Topic seems to have minimal delay, so I would not expect the execution errors linked above.

Actual behaviour

Periodic time out due to lagging processing of joint states of around 1 second.

Backtrace or Console output

Use gist.github.com to copy-paste the console output or segfault backtrace using gdb. later