Can't use MoveGroup with use_controller_manager=false about moveit_pr2 HOT 3 CLOSED

I can confirm the issues you mention. I believe they are now fixed (patches in moveit_ros and moveit_pr2). The error reporting was a forgotten status update on trajectory_execution_manager.
The setting of use_controller_manager=false actually works for you, but the controllers are reported as unloaded and inactive. So the trajectory execution attempts to load them, but there is no manager loaded, so it fails. This leads to the lack of commands to the controller itself.
The correct thing to do is to report the state of the controller used as active. I have changed the default moveit_pr2 controller plugin to be more optimistic, so it will assume unknown / unmanaged controllers are active, and it will send commands to them (if the controller is indeed missing, failure will happen a bit later). Let me know if this works (you would need to compile from source)

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Thanks for the quick response & explanation. I'll probably wait for the updates to work their way into the official binary release to verify the fix on my side, but I'll mark this closed for now. I'll re-open if things don't work right in a week or two.

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I checked today, and the fixes have been released into the public repository. I was able to verify that this issue is fixed. Thanks!

For reference, I'm now using the following versions:

• ros-groovy-moveit-ros-move-group v0.3.25 (20130319-1813)
• ros-groovy-pr2-moveit-plugins v0.3.9 (20130315-2034)

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