Description

When I try to run the canned MoveIt Servo demos, such as

ros2 launch moveit_servo demo_joint_jog.launch.py 

The robot immediately teleports to a singularity and errors out.

I found that changing the smoothing plugin in panda_simulated_config.yaml back to AccelerationLimitedPlugin or ButterworthFilterPlugin resolves the issue.

@AndyZe do you have time to take a look?

ROS Distro

Rolling

OS and version

Ubuntu 24.04

Source or binary build?

Source

If binary, which release version?

No response

If source, which branch?

main

Which RMW are you using?

None

Steps to Reproduce

ros2 launch moveit_servo demo_joint_jog.launch.py

Expected behavior

Robot should track the commanded motion

Actual behavior

Robot teleports to singularity

Backtrace or Console output

No response