Felix Exner

> (Follow-Up questions): > > 1- If I wish to reset these services that I called regarding the setting payload and zeroing FTS, is there any way to do it?...

> But in zero_fts's case, it is always triggered, such that, whenever you hit "externalcontrol" play, it will be reseted! am I correct? I am not aware of such a...

This will probably not get merged anymore. This feature exists in the [ROS 2 driver](https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver), we recommend to switching to that by now.

@rhaschke @nbbrooks @sjahr I hope you don't mind me pinging you directly. I believe releasing this would fix a lot of the regressions mentioned in https://discourse.ros.org/t/preparing-for-rolling-sync-2025-07-14/45172

This could also be an error in the way that tool contact and JTC is combined. But thank you for recording this for now.

@okvik Thank you for that additional information. One source of this that I can imagine is that the controller progresses in the trajectory before speed scaling is set to 0...

Hi, thank you for reaching out. We appreciate that you try to use other simulators with a UR robot. However, at the moment we only support Gazebo as a simulator....

Thank you for the reproducible bug report. From that information I could update our example move script with that trajectory. Unfortunately, this didn't trigger the limit check with my simulated...

We have updated the client library with regards to the limit check recently. Please try again with an up-to-date ur_client_library (>= 1.7.0).

@URJala I gave that a try yesterday and I think the failing tests indicate some unstable state handling in the controller. Could you please have another look that the tests...