arm tucking not always work

[rayvburn]

No description provided.

[rayvburn]

system reset always(?) helps

[rayvburn]

[INFO] [1634739907.766905, 4.101000]: Tuck arm...
[ERROR] [1634739907.772155606, 4.102000000]: No controller was found for joint 'torso_lift_joint'
[ERROR] [1634739907.772206023, 4.102000000]: Motion 'home' could not be played.
[INFO] [1634739907.775380, 4.103000]: Arm tucked.

[rayvburn]

Seems that this bug may be related only to ROS kinetic.

[rayvburn]

On ROS melodic after starting with:

roslaunch tiago_social_bringup gazebo_spawn.launch

Output is as follows:

process[play_motion-8]: started with pid [7294]
<PATH_TO_WS>/devel/lib/play_motion/play_motion: error while loading shared libraries: libmoveit_move_group_interface.so.1.0.9: cannot open shared object file: No such file or directory
[play_motion-8] process has died [pid 7294, exit code 127, cmd <PATH_TO_WS>/devel/lib/play_motion/play_motion __name:=play_motion __log:=/home/rayvburn/.ros/log/cce41a9c-acfc-11ec-b6e8-1c394718bc0b/play_motion-8.log].
log file: /home/rayvburn/.ros/log/cce41a9c-acfc-11ec-b6e8-1c394718bc0b/play_motion-8*.log

Arm is never tucked then

[rayvburn]

Once TIAGo is spawned with launch by PAL, arm tucking starts working off the shelf with above .launch.

Output:

[INFO] [1649259712.434301, 17.978000]: Arm tucked.
[tuck_arm-17] process has finished cleanly
log file: /home/rayvburn/.ros/log/ea715572-b5bf-11ec-a374-a4c4949b3b6a/tuck_arm-17*.log

EDIT: Since then, arm tucking works with the custom launch works like charm. Not sure what caused the issue.