Real robot UR3e is not moving with moveit

edit

I am connected to a UR3e over the network, working on ROS2 Foxy, on Ubuntu 20.04, via docker.

• I set up the right host IP on the robot and robot’s IP in the launch file
• I installed the external control urcap
• I tried with both enable/disable remote control, and with both local/remote control on teach pendant
• I tried calibrating the robot (with ur_calibration)

Then I run

ros2 launch ur_bringup ur_control.launch.py ur_type:=ur3e robot_ip:=192.168.0.4 launch_rviz:=false reverse_ip:=192.168.0.2 limited:=true

on one terminal and

ros2 launch ur_bringup ur_moveit.launch.py ur_type:=ur3e robot_ip:=192.168.0.4 launch_rviz:=true reverse_ip:=192.168.0.2

on another terminal.

After that, I run the program on the teach pendant of the robot with the external control (with the correct IP).

Rviz starts with the robot at the right position. I plan and execute a random trajectory.

I get this outputs in terminal 1: Received new action goal Accepted new action goal Goal reached, success! and these on terminal 2: Completed trajectory execution with status SUCCEEDED Solution was found and executed. Plan and Execute request complete! However the real robot does not move. There is no error in the terminals.

Also I was wondering whether warehouse_ros_mongo is really necessary and what does it exactly do?

Any clue what could be the problem here?

PS: It could be a docker issue?

Thank you in advance