Unexpected movement when failed to initialize

[bsaund]

In a specific failure on startup victor will move to [0,0,0,0,0,0,0] instead of the planned position. This could lead to crashes.

If the joint_state_publisher on realtime crashes, the arm_robots move_group node will fail to "fetch the current robot state". The robot then moves to [0,0,0,0,0,0,0].

I am not sure why, but suspect the robot thinks it is at [0,0,0,0,0,0,0], and thus follow_joint_trajectory thinks it is commanding a small move.

Output from victor.launch after joint_state_publisher has died.

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[ INFO][/victor/move_group]: Didn't received robot state (joint angles) with recent timestamp within 1 seconds.
Check clock synchronization if your are running ROS across multiple machines!
[ WARN][/victor/move_group]: Failed to fetch current robot state.
[ INFO][/victor/move_group]: Planning request received for MoveGroup action. Forwarding to planning pipeline.
[ INFO][/victor/move_group]: Planner configuration 'right_arm' will use planner 'geometric::RRTConnect'. Additional configuration parameters will be set when the planner is constructed.
[ INFO][/victor/move_group]: right_arm/right_arm: Starting planning with 1 states already in datastructure
[ INFO][/victor/move_group]: right_arm/right_arm: Created 5 states (2 start + 3 goal)
[ INFO][/victor/move_group]: Solution found in 0.020732 seconds
[ INFO][/victor/move_group]: SimpleSetup: Path simplification took 0.049736 seconds and changed from 4 to 2 states

The recommended fix is to detect this error, throw an exception, and shut down the node(s)