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[moveit_simple_controller_manager] Longer controller action timeout

asked 2016-12-22 08:39:28 -0500

mrjogo gravatar image

I'm running MoveIt and Gazebo using a single launch file. Because my computer's slow, sometimes Gazebo takes quite a while to start, so I had to increase the timeout on my controller_manager spawner. Unfortunately, move_group / moveit_simple_controller_manager are quite impatient and throw the error "Action client not connected: /position_trajectory_controller/follow_joint_trajectory." Looking into the code, it looks like ActionBasedControllerHandle is hardcoded to wait 15 seconds and then give up (3 tries with 5 seconds in between).

Besides splitting up the launch file, is there a way to have the moveit_simple_controller_manager wait longer (or indefinitely) for the controllers? Or maybe some way to have move_group wait for a trigger before it tries to create the controller manager? Or a way to retrigger creating FollowJointTrajectoryControllerHandle after it has failed?

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answered 2016-12-24 14:31:25 -0500

Dave Coleman gravatar image

You could open a PR that makes that 15 seconds a parameter configurable from roslaunch / yaml

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A pull-request that adds a ros parameter to make move_group wait indefinitely for the clients would be appreciated a lot! I noticed this too and find it quite an awkward behavior!

v4hn gravatar image v4hn  ( 2016-12-24 16:27:29 -0500 )edit

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Asked: 2016-12-22 08:39:28 -0500

Seen: 199 times

Last updated: Dec 24 '16