Merge pull request #2 from fmauch/robot_status

set motion_possible to true only of robot can be actually moved
isys-vision · Apr 20, 2020 · e03bb3f · e03bb3f
2 parents 0a3121b + b593c18
commit e03bb3f
Showing 1 changed file with 6 additions and 1 deletion.
diff --git a/ur_robot_driver/src/ros/hardware_interface.cpp b/ur_robot_driver/src/ros/hardware_interface.cpp
@@ -695,10 +695,15 @@ void HardwareInterface::extractRobotStatus()
   {
     robot_status_resource_.motion_possible = TriState::FALSE;
   }
-  else
+  else if (robot_mode_ == ur_dashboard_msgs::RobotMode::RUNNING)
+
   {
     robot_status_resource_.motion_possible = TriState::TRUE;
   }
+  else
+  {
+    robot_status_resource_.motion_possible = TriState::FALSE;
+  }
 
   // the error code, if any, is not transmitted by this protocol
   // it can and should be fetched separately