wait_until_executed does not wait when planning is not finished yet

[Kaiser1401]

wait_until_executed only waits when the plan has been send for execution, but when the planning takes longer, there is no execution yet and the function returns. I think that might be what happens in #28 as well.

Found while working on Jazzy-Harmonic adaptation

(
AndrejOrsula/panda_ign_moveit2#34
AndrejOrsula/ign_moveit2_examples#27
)

[AndrejOrsula]

I wonder what use case could trigger this. The internal code waits since the request was called (self.__is_motion_requested) until the execution ends (self.__is_executing). As far as I remember, self.__is_motion_requested should be unset after execution begins and self.__is_executing is set.

pymoveit2/pymoveit2/moveit2.py

Lines 745 to 759 in afd30fa

	def wait_until_executed(self) -> bool:
	"""
	Wait until the previously requested motion is finalised through either a success or failure.
	"""
	if not self.__is_motion_requested:
	self._node.get_logger().warn(
	"Cannot wait until motion is executed (no motion is in progress)."
	)
	return False
	while self.__is_motion_requested or self.__is_executing:
	self.__wait_until_executed_rate.sleep()
	return self.motion_suceeded

Do you know which call triggers this behaviour? That could help in pointing out the flaw in the logic somewhere.

[Kaiser1401]

I think I was a bit confused and thought the execute(plan(..)) nesting somewhat would get messed up but can now not find why it would. I'll try to provocate the error again and check where things go sideways