Trajectory execution fails

[ConstantRoux]

Hello,

In order to perform pick and place tasks, I use Moveit2 with Moveit Task Constructor with ROS2 Humble on Ubuntu Jammy. I also use Gazebo Classic 11 as a simulator.

I'm currently able to plan a move using OMPL and Moveit2 and execute it in the simulator with the robot Panda. I am also able to plan the pick and place task having used the following tutorial.

The problem arises when I try to execute the pick and place then planned in the simulator. The task in progress suddenly stops (at the target object approach phase in my case) and the console displays the following error message:

[panda_arm_mtc-1]   1  - ←   5 →   -  3 / pick and place  
[panda_arm_mtc-1]     1  - ←   1 →   -  0 / current  
[panda_arm_mtc-1]     -  0 →   1 →   -  1 / open
[panda_arm_mtc-1]     -  1 →   2 ←   6  - / move to pick
[panda_arm_mtc-1]     6  - ←   6 →   -  6 / pick object
[panda_arm_mtc-1]       6  - ←   6 →   -  0 / grasp pose IK
[panda_arm_mtc-1]        25  - ←  25 →   - 25 / generate grasp pose
[panda_arm_mtc-1]       -  0 →   6 →   -  0 / allow collision (panda_gripper,object)
[panda_arm_mtc-1]       -  0 →   6 →   -  0 / attach object
[panda_arm_mtc-1]       -  0 →   6 →   -  6 / lift object
[panda_arm_mtc-1]     -  6 →   5 ←   3  - / move to place
[panda_arm_mtc-1]     3  - ←   3 →   -  0 / place object
[panda_arm_mtc-1]      20  - ←  20 →   -  6 / place pose IK
[panda_arm_mtc-1]        60  - ←  60 →   - 60 / generate place pose
[panda_arm_mtc-1]       -  6 →  14 →   -  0 / open
[panda_arm_mtc-1]       -  0 →  14 →   -  0 / forbid collision (hand,object)
[panda_arm_mtc-1]       -  0 →  14 →   -  0 / detach object
[panda_arm_mtc-1]       -  0 →   3 →   -  3 / retreat
[panda_arm_mtc-1]     -  0 →   3 →   -  3 / return home
[panda_arm_mtc-1] [ERROR] [1689838426.687436760] [moveit_task_constructor_executor_94734667822192]: Goal was aborted or canceled
[panda_arm_mtc-1] [ERROR] [1689838426.738783208] [panda_arm_mtc]: Task execution failed

I wonder if it could be a configuration problem and can provide more information if needed (source, launch files, logs, etc).

Thanks