"robot within 18 degs of the joint limit during a trajectory [..] cause [..] MotoROS [..] to hang indefinitely"

[G.A. vd. Hoorn]

Originally from SouthieAutonomy#2:

Fix issue with planning over full joint space. There is an interesting bug within MotoROS that if the robot is within 18 degs of the joint limit during a trajectory, the robot will enter a state much similar to the one mentioned above and cause both MotoROS and any application talking through MotoROS to hang indefinitely. Also, this throws a warning.

I've asked @jaymwong for additional information, but he hasn't responded.

I don't know whether this is a problem in MotoROS, motoman_driver or somewhere else.