AndyZe

> Strangely though when I stop publishing on this topic, the robot keeps moving in the simulation. So be careful trying this on a real robot. The `incoming_command_timeout` parameter should...

Thanks for the video! Can you please create a new Issue for that, since it's not related to this Issue?

I see that you have already done some digging to find #2866 and [the recommendation](https://github.com/ros-planning/moveit/issues/2866#issuecomment-917676690) to use `getFrameTransform`. Nice. I don't think it matters if the joint group is aware...

Ah, I think I found the root issue and it's a little more serious. I was trying to transform an angular velocity vector like this: `angular_vector = tf_moveit_to_incoming_cmd_frame.linear() * angular_vector;`...

^don't worry about things not being perfect on your first PR. They almost never are, for anybody ;)

Yes. But it's a rather rare edge case that most people won't notice On Thu, May 18, 2023, 7:06 PM sguptasarma ***@***.***> wrote: > Is this still an issue (in...

I think it must be something related to `` since, if I repalce it with ``, everything is fine. Like this: ``` ``` CheckJointVelocityMonitor1 inherits from `BT::RosServiceNode`: ``` class TriggerService...

With some more print statement debugging, I see the trouble is that the RosServiceNode is getting halted with every other call to `tick()`?! ``` response received: 1 Starting DummyStatefulAction Ticking...

Well, I can achieve the result I want by hacking the source code of `bt_service_node.hpp` to block until the service returns, within the `tick()` function. It would be nice if...

I can make a PR to check the node is synchronous during parsing, if you want. Or maybe just add a parameter to make `BT::RosServiceNode` block. Or is there an...