universal_robot
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ros-industrial
[WIP] Improved the test_move script in ur_driver
Some changes I would like to make:
This script would not be specific to UR. Would there be a better place for it?
@ipa-hsd @ipa-nhg: this is definitely an upgrade, but at a first glance it also looks somewhat complex.
The goal of this script is two-fold:
- provide an easy way to test the driver
- provide an example of how action clients can be used to communicate with the driver
Goal 1 is covered by this, no doubt.
I'm wondering if we're not making things too complex for goal 2 however. The script has a lot of things I would not expect in a (simple) example, such as listening for JointState msgs, dealing with keyboard input and it hides the typical "wait-for-server;create-goal;send-to-server;wait-for-completion" control flow somewhat.
If you agree, we could perhaps keep this file as it is now proposed and add a much simpler version that covers the second goal.
Independent of this: I believe it would be prudent to print a very visible warning drawing attention to the fact that the robot is going to move, and that it is going to move in a certain way. Perhaps the script should also clarify how it is going to move, and that users should make sure the robot has X and Y free space around it?
@gavanderhoorn : I have added the warning messages.
If you agree, we could perhaps keep this file as it is now proposed and add a much simpler version that covers the second goal.
I am not sure of the future of this repo, but maybe the new file can be added to a more generic repository where other arms can be tested as well.
I would like merge this to the kinetic-devel branch (first the merge conflict has to be solved). The full package "ur_driver" is deprecated (even removed for new distros), then makes not sense to put here more effort, and the changes of the PR improve the current version.
@gavanderhoorn if you don't want to merge it, I suggest to close the PR, if @ipa-hsd agrees.