[move_group_interface] unable to wait forever for execution capability to come online#335
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| void waitForExecuteActionOrService(ros::WallTime timeout_for_servers) | ||
| void waitForExecuteActionOrService(ros::WallTime timeout) |
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var rename mimics void waitForAction(const T &action, const std::string &name, const ros::WallTime &timeout, double allotted_time)
| ROS_ERROR_STREAM_NAMED("planning_interface", "Unable to find execution action on topic: " | ||
| << node_handle_.getNamespace() + move_group::EXECUTE_ACTION_NAME | ||
| << " or service: " << node_handle_.getNamespace() + move_group::EXECUTE_SERVICE_NAME); | ||
| throw std::runtime_error("No Trajectory execution capability available."); |
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This was previously always being thrown when default MoveGroupInterface constructor used
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testing failed due to #311 and because apparently you violated the format :P |
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Format fixed. |
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ping - this is an important bug fix |
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lgtm. |
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Done for jade, does not apply for indigo |
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On Wed, Nov 02, 2016 at 05:37:37PM -0700, Dave Coleman wrote:
True, but it does apply to the resp. pull-request for indigo that I did not get around to review. This bug-fix might actually be the fix for the issue I was concerned about there, but I didn't look at the issue in detail. |
Fix for recent changes by@rhaschke in #94
When the default constructor is used, such as in the moveit_tutorials, the timeout for the capabilities of move_group is should be zero indicating wait forever. For the new execution actionlib interface, it would wait 0 time then throw a runtime error. In this PR I mimicked the behavior of the original
waitForAction()function that the temporarywaitForExecuteActionOrService()function was suppose to have, including renaming a variable to be the same for clarity.I also added some helper console feedback.
This fixes our tutorials in Kinetic.