scaled_joint_trajectory_controller does not behave as expected when stop is pressed on the robot

[URJala]

Affected ROS2 Driver version(s)

3.0.2

Used ROS distribution.

Other

Which combination of platform is the ROS driver running on.

Docker

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

Real robot, UR E-series robot, URSim in docker

Robot SW / URSim version(s)

5.20

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

If the stop button is pressed on the teach pendant (real or simulated) while the scaled joint trajectory controller is executing a trajectory, the controller will flood the terminal running the ROS driver with an error message, and the ROS action responsible for the trajectory will never finish.

Issue details

The error message reported is: "[ros2_control_node-1] [WARN] [1737719032.541174555] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at ./src/rcl_action/goal_handle.c:95".

Steps to Reproduce

launch the driver with either a real robot or a dockersim attached and execute a trajectory on the scaled_joint_trajectory_controller. While it is executing, press stop on the robot teach pendant.

Expected Behavior

The controller aborts the trajectory and reports the ROS action as aborted to the user. It also does not flood the terminal with error messages.

Actual Behavior

ROS action is never reported as finished, and the terminal is flooded with error messages.

Relevant log output

[ros2_control_node-1] [WARN] [1737719032.541174555] [realtime_tools]: goal_handle attempted invalid transition from state EXECUTING with event CANCELED, at ./src/rcl_action/goal_handle.c:95

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