Persistent 1ms Control Loop Overruns on ROS 2 Jazzy / Ubuntu 24.04

[SaberSul]

PC Specs:
CPU: I7-8700
RAM: 16GB DDR4
MEMORY: 1TB HDD
GPU: QUADRO P620 2GB VRAM

Persistent Overrun detected loop when attempting to issue any command from the action client (PC). 2nd terminal displays "waiting for available action server..." with no other outcomes.

launch.log

Launch process:
(Terminal 1)
. source /opt/ros/jazzy/setup.bash
. source ~/kinova_ws/install/setup.bash
. ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10 gripper:=robotiq_2f_85

(Terminal 2)
. source /opt/ros/jazzy/setup.bash
. source ~/kinova_ws/install/setup.bash
. ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/GripperCommand "{command: {position: 0.8}}

summary of actions taken to resolve this issue:

1. Workspace Configuration & Build Fixes:
   Successfully compiled the ROS 2 Jazzy driver as a hardware interface plugin.
   Resolved the package 'robotiq_description' not found error by removing the broad COLCON_IGNORE on the Robotiq folder.
   Bypassed compilation errors in robotiq_driver and robotiq_hardware_tests by specifically ignoring those sub-folders while keeping the necessary description files.
   Performed a clean rebuild multiple times(rm -rf build/ install/ log/) to ensure environment consistency.
   Performed clean rebuild with Release mode, no effect.
   Performed Real-Time group optimization with limits.conf file, no effect.
2. Connectivity & Basic Handshake:
   Verified physical network connectivity via ping 192.168.1.10 (Successful).
   Confirmed Terminal 1 (Driver) and Terminal 2 (Command) are communicating using ros2 topic echo /joint_states --limit 1.
   Hardware & Session Management:
   Confirmed the Robotiq 2F-85 is detected and functional through the Kortex Web App.
   Attempted to clear the robot's "Single Control Session" lock by closing the Web App and waiting for the 10-second grace period.
   Verified the Status LED on the robot base is solid green (Ready).
3. Middleware & Performance Optimization:
   Installed and switched to the rmw_cyclonedds_cpp middleware to improve network discovery stability.
   Launched the driver with launch_rviz:=false to reduce CPU overhead.
   Launched the driver using sudo -E and high-priority environment variables to help the system meet real-time requirements.
4. State Verification:
   ros2 control list_controllers: Confirmed robotiq_gripper_controller is active.
   ros2 control list_hardware_interfaces: Confirmed robotiq_85_left_knuckle_joint is present in both state and command interfaces.
   ros2 action info: Confirmed the server exists (1 server, 0 clients).

Please view attachments for launch log file, much appreciated.

[aalmrad]

Hello, the gripper controller type was updated by the README instructions were not. Please use the following command to move the gripper:
ros2 action send_goal /robotiq_gripper_controller/gripper_cmd control_msgs/action/ParallelGripperCommand "{command: {position: [1.0], effort: [100.0]}}"

I will update the README file accordingly. Thank you for pointing out this issue.

[aalmrad]

@SaberSul this PR addresses this issue