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verified publisher icon UniversalRobots

Report when/if Robot is in FreeDrive mode

Open lavarock1234 opened this issue 5 years ago • 1 comments

Summary

In previous driver (ur_modern_driver), it is possible to know when robot is in freedrive mode. However, this is no longer possible in the new driver. I can confirm that when robot is in freedrive mode, /ur_hardware_interface/robot_mode is reporting RUNNING=7 and /ur_hardware_interface/safety_mode is reporting NORMAL=1, same as when the robot is operating but not in freedrive mode.

Versions

  • ROS Driver version: Universal_Robots_ROS_Driver master (Mar 12, 2020)
  • Affected Robot Software Version(s): 3.12.1.90940
  • Affected Robot Hardware Version(s): UR-5 CB3.1

lavarock1234 avatar Mar 13 '20 06:03 lavarock1234

This is related to #35, as this information should be in the robot_status_bits RTDE field.

fmauch avatar Mar 27 '20 14:03 fmauch