calling move_line service getting stuck

[Akumar201]

Hello , I have created a function to send the arm to desired position, the issue is when I am trying to move it it's moving to a point but after that it get stuck and not take the second command. After the print like it get stuck
std::cout << "after move_srv_ " << std::endl;

I am not sure what is wrong as It was working on earlier version of github that I used few month before but with the latest version , it's giving this issue.

bool RoboticArmController::moveLine(std::vector<float> position, float velocity, float acceleration, float mvtime, float mvradii)
{
    // Log the parameters to ensure they're correct
    ROS_INFO("Attempting to moveLine to position: [%f, %f, %f, %f, %f, %f], velocity: %f, acceleration: %f, mvtime: %f, mvradii: %f",
             position[0], position[1], position[2], position[3], position[4], position[5],
             velocity, acceleration, mvtime, mvradii);

    // Wait for the service to become available
    if (!move_line_client_.waitForExistence(ros::Duration(10.0)))
    {
        ROS_ERROR("Service '/xarm/move_line' does not exist or is not available.");
        return false;
    }

    std::cout << "after waitForExistence " << std::endl;

    // Call the service
    move_srv_.request.pose = position;
    move_srv_.request.mvvelo = velocity;
    move_srv_.request.mvacc = acceleration;
    move_srv_.request.mvtime = mvtime;
    move_srv_.request.mvradii = mvradii;

    std::cout << "after move_srv_ " << std::endl;

    if (move_line_client_.call(move_srv_))
    {
        std::cout << "move_line_client_ in if  " << std::endl;
        ROS_INFO("Service '/xarm/move_line' called successfully.");
        return true;
    }
    else
    {
        std::cout << "move_line_client_ in else " << std::endl;
        ROS_ERROR("Failed to call service '/xarm/move_line'.");
        return false;
    }
}

points looks something like

   "x": 0.105,
    "y": -0.705,
    "z": 0.150,
    "qw": 0.999778,
    "qx": 0.011202,
    "qy": 0.000213,
    "qz": 0.017821

        
        [ERROR] [1727555169.026892018]: Failed to call service '/xarm/move_line'.
[ERROR] [1727555169.027024140]: Failed to execute moveLine.
[main_node-1] process has died [pid 48165, exit code 1, cmd bash -c sleep 4.0; $0 $@ /home/orangepi/targetarm/ralar_ws/devel/lib/tularm/main __name:=main_node __log:=/home/orangepi/.ros/log/7ba971ce-7dd6-11ef-85f0-0000a449ddbb/main_node-1.log].
log file: /home/orangepi/.ros/log/7ba971ce-7dd6-11ef-85f0-0000a449ddbb/main_node-1*.log

[penglongxiang]

@Akumar201 Since we do not have your original code. I have tested with this code with similar structure, and it worked fine. Could you confirm you can execute this program with no problem? It can be run by:

 $ rosrun xarm_api move_test

The prior launch command is: roslaunch xarm_bringup xarm<your_robot_dof>_server.launch robot_ip:=<your_robot_ip>.