full_arm_movement example doesn't work in Gazebo

[RaduCorcodel]

Description

We are trying to simply run the full arm movement example in Gazebo but it stops at executing any waypoint trajectory. The example works perfectly fine on the real robot but in Gazebo we have the following behavior:

Version

ROS distribution : Noetic

Branch and commit you are using : noetic-devel

Steps to reproduce

1. roslaunch kortex_gazebo spawn_kortex_robot.launch gripper:=robotiq_2f_85
2. roslaunch kortex_examples full_arm_movement_python.launch

Expected behavior

Terminal running Gazebo:

[ WARN] [1686773361.529741253, 12.816000000]: The simulation handler for base/clear_faults is not implemented, so the service calls will return the default response.
[ WARN] [1686773364.048234700, 15.325000000]: The simulation handler for base/activate_publishing_of_action_topic is not implemented, so the service calls will return the default response.
[ WARN] [1686773365.629466459, 16.902000000]: The simulation handler for control_config/set_cartesian_reference_frame is not implemented, so the service calls will return the default response.
[ERROR] [1686773365.928339351, 17.197000000]: Unsupported action type 0 : could not execute simulated action.

Terminal running the example script:

[INFO] [1686773361.499215, 12.785000]: Using robot_name my_gen3 , robot has 7 degrees of freedom and is_gripper_present is True
[INFO] [1686773361.530152, 12.816000]: Cleared the faults successfully
[INFO] [1686773364.041311, 15.318000]: Activating the action notifications...
[INFO] [1686773364.048748, 15.325000]: Successfully activated the Action Notifications!
[INFO] [1686773365.058755, 16.332000]: Sending the robot home...
[INFO] [1686773365.115991, 16.389000]: Received ACTION_END notification
[INFO] [1686773365.118723, 16.391000]: Sending the gripper command...
[INFO] [1686773365.630037, 16.902000]: Set the cartesian reference frame successfully
[INFO] [1686773365.922664, 17.191000]: Sending the robot to the cartesian pose...```

It appears to be stuck in example_send_cartesian_pose that starts at line 176.

Could you please offer us some hints on how to fix this?

Thank you.

Best,
Radu

[felixmaisonneuve]

Hi @RaduCorcodel,

yes, this is something we are aware of. The simulation does not implement the waypoint interface (which was added with KortexAPI2.3.0). This means the full arm example, that uses waypoints cannot work.

This was mentionned in #221

I will add a not implemented yet tag to this issue and leave open.

If you have any other question, I will be happy to help you

Regards,
Felix