AGH-CEAI/aegis_ros

[BUG] `aegis_director`: pymoveit2 synchronous service call ends in a deadlock

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#76 opened on Nov 12, 2025

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Description

Description

The problem

Any synchronous calls to ROS 2 services (using pymoveit2) results in a nasty wait deadlock. To my best knowledge there is problem with a proper executor spinning (due to handling it with threading package).

Probably it is the same issue as with the gripper: #39

Temporary workaround

Call everything asynchronously and introduce a naive sleep/wait in the code.

Idea for solution

Rewrite the aegis_director in C++ as a gRPC server.

References

Contributor guide

Research direction
Investigate the ROS 2 executor spinning logic in pymoveit2 synchronous service calls to identify the deadlock cause. Consider alternative approaches like asynchronous calls with proper synchronization or refactoring the executor management.
Tech stack
python
Domain
backendrobotics
Issue type
Bug
DifficultyEstimated implementation difficulty for a new contributor, from 1 for very small changes to 5 for expert-level work.
3
Estimated timeA rough time range for an experienced contributor to investigate, implement, test, and prepare a pull request.
Half day
Activity statusHow available the issue appears right now: fresh, active, stale, blocked, or waiting on maintainer input.
Fresh
ClarityHow clearly the issue explains the expected change, acceptance criteria, and next step.
Mostly clear
Prerequisites
ROS 2Pythonpymoveit2
Newbie friendlinessA 1-100 score estimating how approachable this issue is for first-time contributors.
30