Ted Miller
Ted Miller
Energy-savings mode can activate in the time between `robot_enable` and a trajectory is sent. If this occurs, the trajectory will not be rejected. It will also not work. To disable...
I discovered today that it is possible to bypass the trajectory initialization routine (Ros_MotionServer_InitTrajPointFull) by sending a non-zero sequence identifier in the first trajectory command. This could cause unexpected behavior...
Fix for #492 and #519. ~Untested.~
A user has found a missing `else` condition. This leads to an improper response to an unknown message type. https://github.com/ros-industrial/motoman/blob/7860ff545106d98ed6a3fa0121f2fb60891f69bd/motoman_driver/MotoPlus/SimpleMessage.c#L153
The latest version of the param extraction library (which is not in this repo) has had all the `float` data changed to `double`. This will conflict with some of the...
Originally from here: https://github.com/Yaskawa-Global/motoros2/issues/233#issuecomment-2059659087 > believe that Ros_Controller_IsInMotion() is not strict enough. Specifically START_MAX_PULSE_DEVIATION should be decreased. (Or make a new constant for "END deviation".) (Maybe make this configurable in...
Re: https://github.com/Yaskawa-Global/motoros2/discussions/201#discussioncomment-8224715 Need to add this to setup procedure. Perhaps we can also detect this in real time via CIO. (I vaguely recall this being an issue in the past....
@ted-miller: we might want to consider reporting some of these RCL(C) initialisation errors, or defining some subcodes for them. Especially the `NODE`, `PUBLISHER`, `SUBSCRIPTION`, etc categories seem to be caused...
`mpGetFBPulsePos` returns raw feedback position of the encoders. This can be different than logical position of the joint. This is due to things such as [cross-axis couplings](https://github.com/Yaskawa-Global/motoros2/blob/9026a1d0b50b483f7c334bfd5ebbac8b328bfdb6/src/CtrlGroup.c#L345-L358) or gravity-compensation. We...
I happen to be using the SP right now for another project. While trying to test MotoROS2, I have no idea how I'm supposed to set this up w/o switching...