Few issues in MoveIT interfacing

[belalhmedan90]

Hi, thanks for the great effort, I noticed multiple issues in the implementation, and I want to point them out:

1. rate.sleep() on some machines sleeps forever, it might be better to change it to rclpy.spin_once(self._node, timeout_sec=1.0)
2. Consider waiting for service before checking availability (for each service): self.__service_client.wait_for_service(timeout_sec=3.0).
3. Starting state is None, I have to tweak the code as:

        # Define starting state for the plan (default to the current state)
        while(start_joint_state is None):
            self._node._logger.warn(message="Joint states are not avaliable yet!")
            if(self.__joint_state is not None):
                start_joint_state = self.__joint_state
                break
            else:
                rclpy.spin_once(self._node, timeout_sec=1.0)
        self._node._logger.info(message="Joint states are avaliable now")

If you please consider these changes it might enhance the API imo, thanks.

[AndrejOrsula]

Hi @belalhmedan90, thank you very much for opening this issue!

Would you be willing to contribute a PR that addresses these changes?
Thank you in advance for your consideration.

[belalhmedan90]

Hi @belalhmedan90, thank you very much for opening this issue!

Would you be willing to contribute a PR that addresses these changes? Thank you in advance for your consideration.

Sure, please see PR #87

[AndrejOrsula]

#87 is now merged