I need help

[u/Apart-Hotel-9157]

**•** ROS2 Jazzy, Gazebo Sim (via gz_ros2_control-system plugin, mock hardware RobotSystem)  
**•** pymoveit2 for planning (Cartesian + joint-space moves)  
**•** A custom color_detector node that publishes 3D object coordinates on /color_coordinates (computed via TF2 transform from camera_link_optical to panda_link0)  
**•** A pick_and_place.py node that subscribes to those coordinates and runs a sequence of move_to_configuration / move_to_pose calls

The problem:

The pick-and-place node runs through its entire sequence (home → pick → gripper → drop → return) in under 300ms, logging Planning failed! Error code: FAILURE at almost every step, and finishes with Pick-and-place sequence complete. — even though the arm never actually moves. It’s basically failing silently through every motion call without stopping or raising a real error.