UniversalRobots
Limiting continuous extrapolation in servoThread
Affected Client Library version(s) 1.3.7
What combination of platform is the Client Library running on. Linux
How did you install the Client Library Build the library from source
Which robot platform is the library connected to. URSim in docker
Robot SW / URSim version(s) 5.16.0
How are you using the Client Library
Through the robot teach pendant using External Control URCap
Summary
Currently in ServoThread, there is no limit to how many consecutive extrapolations can occur. In the case of a connection drop, the arm ends up moving a large distances. I wanted to share the fix that we have been using for this issue and was looking to push it upstream.
Draft PR with the fix: https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/216
In case of a connection drop reading the next command should fail leading to control_mode being set to STOPPED which will in turn end the while loop and shut down the motion thread.
Or in other words: The robot extrapolates as long as the number of missed packages is still in the range of allowed packages to be missed.
What is your setup where you experience these issues?
