Rotation-only goals ignored about move_basic

[MoffKalast]

Another thing, the workaround I mentioned doesn't fully work either it seems.

[ INFO] [1623089989.156225937, 814.851000000]: Planning in goal frame: base_link

[ INFO] [1623089989.156259677, 814.851000000]: MoveBasic: Goal in base_link  0.040000 0.040000 180.000000
[ INFO] [1623089989.156328205, 814.851000000]: MoveBasic: Goal in base_link  0.040000 0.040000 180.000000
[ INFO] [1623089989.156369680, 814.851000000]: MoveBasic: Requested rotation -129.398652
[ INFO] [1623089993.879035292, 817.175000000]: MoveBasic: Done rotation, error 3.706254 degrees
[ INFO] [1623089994.417629743, 817.397000000]: MoveBasic: Done linear, error: x: 0.042650 meters, y: 0.004839 meters
[ INFO] [1623089994.418079954, 817.397000000]: MoveBasic: Requested rotation 2.368312
[ INFO] [1623090006.863490802, 823.137000000]: MoveBasic: Done rotation, error 4.481289 degrees

The rotation and translation do get executed, but the goal itself doesn't get labeled as succeeded, but stays in the active state (1), so the actionclient doesn't know it's done and cannot proceed.

(this is using the latest kinetic-devel, but the same thing happens on feature-externalforce so it's bound to be a somewhat more widespread issue)

[dorkamotorka]

Done in 629c081

[MoffKalast]

Still seems to occur in gazebo, when issuing goals without a any notable linear component. For some reason it doesn't happen on the real robot though.

[dorkamotorka]

OK, will take a look into that.

[dorkamotorka]

I cannot reproduce the issue in Gazebo, it works for me. I was publishing rotation only goals with rostopic pub.
How can I reproduce it?

[MoffKalast]

I think I managed to reproduce it with rviz simple goals, just dropped on the robot. If that's the case and you're running it with rosrun it may be some parameter changed by ezmap's launch of move_basic that causes this.