Configuration

• ros2_controllers fork: https://github.com/eholum/ros2_controllers/tree/pr-erh-add-errors
• ROS_DISTRO: humble

Describe the bug
When constraints.goal_time = 0.0 and there is constraints.<joint_name>.goal that is different than zero and can't be satisfied we always end up here and the action result is never returned.

I am not sure this is desired behavior. What are your impressions?

To Reproduce
Steps to reproduce the behavior:

1. Use https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver and change this part into:

      shoulder_pan_joint: { trajectory: 0.2, goal: 0.001 }
      shoulder_lift_joint: { trajectory: 0.2, goal: 0.001 }
      elbow_joint: { trajectory: 0.2, goal: 0.001 }
      wrist_1_joint: { trajectory: 0.2, goal: 0.001 }
      wrist_2_joint: { trajectory: 0.2, goal: 0.001 }
      wrist_3_joint: { trajectory: 0.2, goal: 0.001 }

2. Use https://github.com/UniversalRobots/Universal_Robots_ROS2_Description and change this part to:

<param name="position_state_following_offset">-0.005</param>

which will make sure you never reach goal.

3. Send action goal and see the result not returning.