rrbot_test_trajectory aborts without movement

[Lucas Walter]

I've tried a few lunar and kinetic variations of

roslaunch ros_control_boilerplate rrbot_simulation.launch
roslaunch ros_control_boilerplate rrbot_visualize.launch
roslaunch ros_control_boilerplate rrbot_test_trajectory.launch

and so far none of them result in any motion on the arm.

Kinetic with latest github versions of ros_control, ros_controllers, ros_control_boilerplate, and gazebo_ros_demos

Lunar with deb ros_control and ros_controllers and github ros_control_boilerplate (it needs the improve_install fixes to be used here from the package manager) and gazebo_ros_demos

[Lucas Walter]

Setting sim_control_mode to 0 (position instead of velocity) makes it work.

[Paul Bouchier]

Thanks for the solution Lucas. I submitted pull request #19 to implement your solution.

[oPiZiL]

@lucasw in rrbot_controllers.yaml , that works.

[Shreeyak]

I faced this issue as well! Thanks @lucasw.

@PaulBouchier Any update on that pull req? I saw it failed due to an eigen3 error?

[Paul Bouchier]

@Shreeyak I didn't know it had failed - apparently you don't get email when a pull request fails. I can't imagine how the change I made would cause the failure to find Eigen3 in cmake. Seems like it might've gotten broken before somehow. I don't know how this CI stuff works or how to debug its problems.

[Dave Coleman]

I have just merged it. Hopefully someone can address the Eigen issue separately. Please see how moveit_core links to Eigen3 for a good example. Thanks!

[Shreeyak]

Thank you for merging it!