AGH-CEAI/aegis_ros
[BUG] `aegis_director`: pymoveit2 synchronous service call ends in a deadlock
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#76 opened on 2025/11/12
bughelp wanted
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説明
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.