Felix Exner (fexner)

First of all, there are two ways you can operate the driver in. The default mode and the headless mode. This is something I've wanted to document for a long...

> However, I have a question about the "program" commands. What exactly does the command `resend_robot_program` mean and which program is sent to the robot again? Is it a previously...

Note to me: Merge the above documentation with the one in https://github.com/UniversalRobots/Universal_Robots_ROS_Driver/blob/master/ur_robot_driver/README.md

This should really not happen.Will try to reproduce this.

A very interesting question related would be which controller you are using. I am assuming the `scaled_joint_trajectory_controller`?

I have not been able to reproduce this. The setup / sequence I used - UR16e with Polyscope 5.11 - Ubuntu 20.04 with ROS Galactic. Driver built from source from...

@LucaBross This is exactly what should **not** be happening. I'll try again to reproduce this later this week.

Any reason you are using the `joint_trajectory_controller`, not `scaled_joint_trajectory_controller`? I highly recommend using the scaled version. See the explanation [here](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_controllers/README.md#position_controllersscaledjointtrajectorycontroller-and-velocity_controllersscaledjointtrajectorycontroller). Still, this initialization problem should not happen, but I haven't...

We are currently adding a failsafe mechanism in https://github.com/UniversalRobots/Universal_Robots_Client_Library/pull/184. From a ROS perspective this approach seems not to be satisfying, but in the end it is a safety mechanism which...

The corresponding work in ros2_control was started in https://github.com/ros-controls/ros2_control/pull/884 There are still a couple of pieces missing in order to finally implement that we can specify whether command interfaces should...