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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?


Originally posted by mrjogo on ROS Answers with karma: 164 on 2016-12-22

Post score: 1

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


Originally posted by Dave Coleman with karma: 1396 on 2016-12-24

This answer was ACCEPTED on the original site

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Original comments

Comment by v4hn on 2016-12-24:
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!

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