bug: fix timeout bug with force command - #809
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tcappellari-bdai
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khughes-bdai and
mhidalgo-rai
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July 7, 2026 17:20
Coverage Report for CI Build 28885305868Coverage decreased (-0.1%) to 51.81%Details
Uncovered ChangesNo uncovered changes found. Coverage Regressions240 previously-covered lines in 1 file lost coverage.
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Change Overview
Found an issue with force commands hanging once completed instead of returning a success while i was testing spot_basic examples. So a force/hybrid Cartesian command now completes when its trajectory finishes, instead of hanging until the client's timeout_sec
Testing Done
example_arm_force_trajectory in spot_basic works as expected without hanging
Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use
domain_coordinatorto prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.