Orientation control with twist_controller not working

[nbuttner-bdai]

Description

When using a kinova gen3 with the twist_controller enabled, orientation control does not work (publishing a non zero angular velocity results in no motion of the arm).

Version

ROS distribution : Humble

Branch and commit you are using : 2bf1526
EDIT: and also tested on Humble_Gazebo_Classic_Support (5d4ae1a), same issue.

Steps to reproduce

1. ros2 launch kortex_bringup gen3.launch.py robot_ip:=192.168.1.10 robot_controller:=twist_controller
2. ros2 topic pub /twist_controller/commands geometry_msgs/msg/Twist "{angular: {x: 0.1}}"
3. The arm does not move.

Expected behavior

Non zero angular velocities in the spatial twist message result in motion of the arm.

Any other information

The linear velocities (XYZ), all work as expected. If non zero linear and angular velocities are sent, only the linear velocities are applied. The arm works properly when being commanded either via the web UI, or with the xbox controller.