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

• https://github.com/AGH-CEAI/aegis_gym/issues/27