Felix Exner (fexner)

(Maybe) related to this topic there's currently https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/118. @MilanPadhiyar027 When having the robot in remote_control mode, you can also start the driver in [headless_mode](https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/README.md#headless-mode). This will not require the ExternalControl...

First of all, please note, that this post is very old and does not refer to this driver by any means. The behavior how the driver is currently working is...

> My understanding is that while the driver is running, Digital Inputs are not usable. What brings you to that conclusion? I/Os are usable as normal and their state is...

Do I understand correctly, that your diagnostics concerns are only regarding the control loop timings? This could be added at the top-level node but I share the concerns @gavanderhoorn raised,...

That's why I was asking initially about the timings, as I was about to mark this a duplicate. As far as I understood, #170 has a couple of different aspects...

@gavanderhoorn How do other drivers handle this usually? I think, many drivers would just exit, right?

I think, #104 should stop the driver from publishing joint data. Adding a separate state topic seems like a good idea at first glance, however we should think of a...

> `position_controller_running_` and `velocity_controller_running_` are used in write() and doSwitch(). They are probably safe if ros_control does its job of stopping the read/write loop before switching. So I could probably...

As we plan to merge `staging` very soon, I'd postpone this after the merge.

Looking at the conflicts it looks as if we have to extend this PR with the new interfaces. @AndyZe would you like to do it or should I update this...