Fix reset and pause of Pick and place in harmonic

[javizqh]

On reset it segfaults and breaks completely

[javizqh]

Please test with this branch of the RAM https://github.com/JdeRobot/RoboticsApplicationManager/tree/pick-place-manager to see all the logs

[anishk85]

Is this got fixed in the new merge commit ?

[javizqh]

No, this issue has been created after the PR was merged

[javizqh]

The problem is related to ros-controls/gz_ros2_control#636

[anishk85]

Hi @javizqh ,
so i was looking at the pick place reset issue and i think the universe has robot_id=0 in the database which is basically the None robot, so RAM never creates a robot_launcher for it. when reset happens RAM can only reset gazebo physics but the joint controllers and moveit never restart because robot_launcher is None. maybe if we split spawn_robot_warehouse.launch.py into two files — one just for gazebo world/server, and another for the robot stuff (spawn entity + joint_state_broadcaster + joint_trajectory_controller + gripper_controller + move_group) — and then add a proper robot row in the database pointing to that robot launch file, it might fix the stale controller state after reset. not sure but worth trying once.

[javizqh]

We have already tried it in our developer branch. The issue has nothing to do with that and is caused by the issue linked above.