When emulation with moveit2+ros2 humble+iginition gazebo, the controller position_controllers/GripperActionController cannot perform the actions planned by Moveit2

[JiangShangJiu]

Background

ros2 humble
moveit2
iginition gazebo

Using Franka FR3 and Franka Hand and Franka ROS2, when simulated in the iginition gazebo, the jaws are closed with MovieT2 and cannot be closed.

I'm guessing that the position_controllers/GripperActionController controller received the command but didn't execute the corresponding action so that it timed out, causing Moveit2 to issue a command to cancel the action. When I change the gripper to a controller of type joint_trajectory_controller/JointTrajectoryController, the gripper closes gracefully. Has anyone ever encountered a similar problem? What should I do?

[christophfroehlich]

I recommend that you launch your system without moveit to isolate the issue. Then send an action call to the controller manually and see what happens.