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Activation modes for service /ur_driver/robot_enable #2
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Adds parameter 'require_activation' to configure when the service should be called (Always, Never, OnStartup).
Maintains default behavior of indigo that no controller activation is required. Enabling required activation can be done by passing 'require_activation' as Always/OnStartup to the ur_common.launch or by modifying corresponding launch files.
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This PR was implemented in collaboration with @v4hn.
A parameter require_activation is added to configure when the
robot_enableservice has to be called to activate the driver. Prior this was required after every launch and emergency or protective stop.There are three modes now as suggested by @Zagitta in his pull request:
Never is set as default value to maintain the default behaviour in indigo.
Setting Always/OnStartup as default would probably require modifying all launch files however.
Enabling Always/OnStartup can be done by passing require_activation to the
ur_common.launchor by modifying corresponding launch files.