Gazebo環境上でpick_and_placeサンプルが途中で停止する

[Kuwamai]

不具合の概要

Gazebo環境上で実行したpick_and_placeサンプルがオブジェクトを掴んだ時点で停止します。
その他のサンプルは最後まで正常に動作します。

実行環境

• OS: Ubuntu 20.04
• ソフトのバージョン: cfa26ef

再現方法

1. ros2 launch crane_x7_gazebo crane_x7_with_table.launch.py を実行する
2. ros2 launch crane_x7_examples example.launch.py example:='pick_and_place' use_sim_time:='true' を実行する
3. 不具合が発生する

期待する動作

途中で停止せず最後までpick_and_placeが動作する

ログ・画像

その他

[Kuwamai]

実機ではタイムアウトが機能してMoveGroupInterface::move() failed or timeout reachedと出力され、途中で止まらずに次のステップへ移行できている。

[INFO] [launch]: All log files can be found below /root/.ros/log/2023-10-11-17-10-53-048463-rtpad20-1
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [pick_and_place-1]: process started with pid [59]
[pick_and_place-1] [WARN] [1697011853.445531348] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[pick_and_place-1] [INFO] [1697011853.488995834] [moveit_rdf_loader.rdf_loader]: Loaded robot model in 0.0390303 seconds
[pick_and_place-1] [INFO] [1697011853.489025216] [moveit_robot_model.robot_model]: Loading robot model 'crane_x7'...
[pick_and_place-1] [INFO] [1697011853.489031764] [moveit_robot_model.robot_model]: No root/virtual joint specified in SRDF. Assuming fixed joint
[pick_and_place-1] [INFO] [1697011853.527259983] [move_group_interface]: Ready to take commands for planning group arm.
[pick_and_place-1] [INFO] [1697011853.535071287] [move_group_interface]: Ready to take commands for planning group gripper.
[pick_and_place-1] [INFO] [1697011853.535458767] [moveit_ros.current_state_monitor]: Listening to joint states on topic 'joint_states'
[pick_and_place-1] [INFO] [1697011853.548002523] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011853.884423500] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011853.885018557] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011854.446732160] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011854.448111063] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011855.956626022] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011855.957973898] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011857.010210515] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011857.011050996] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011858.460329622] [move_group_interface]: Plan and Execute request aborted
[pick_and_place-1] [ERROR] [1697011858.460367184] [move_group_interface]: MoveGroupInterface::move() failed or timeout reached
[pick_and_place-1] [INFO] [1697011858.460841532] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011859.521666067] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011859.522626164] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011860.799645588] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011860.800152040] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011861.757507816] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011861.758247731] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011862.191223247] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011862.192235005] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011863.132991903] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011863.133724244] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011864.477182176] [move_group_interface]: Plan and Execute request complete!
[pick_and_place-1] [INFO] [1697011864.477805998] [move_group_interface]: Plan and Execute request accepted
[pick_and_place-1] [INFO] [1697011865.036993792] [move_group_interface]: Plan and Execute request complete!
[INFO] [pick_and_place-1]: process has finished cleanly [pid 59]

[Kuwamai]

GripperActionControllerのデフォルト設定ではgoal_toleranceが0.01、stall_timeoutが1.0に設定されている。そのため1秒後にタイムアウトしエラーが出力されるのが正しい挙動だと思われる。

パラメータ一覧
https://github.com/ros-controls/ros2_controllers/blob/master/gripper_controllers/src/gripper_action_controller_parameters.yaml

パラメータ使用箇所
https://github.com/ros-controls/ros2_controllers/blob/master/gripper_controllers/include/gripper_controllers/gripper_action_controller_impl.hpp#L161