set motion_possible to true only of robot can be actually moved #2
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| @@ -695,10 +695,14 @@ void HardwareInterface::extractRobotStatus() | |||
| { | |||
| robot_status_resource_.motion_possible = TriState::FALSE; | |||
| } | |||
| else | |||
| else if (robot_mode_ == ur_dashboard_msgs::RobotMode::RUNNING || robot_mode_ == ur_dashboard_msgs::RobotMode::BACKDRIVE) | |||
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Can the driver command motion if the robot is in BACKDRIVE mode?
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technically, I think it could. By putting the robot into freedrive mode, it can be moved physically. Putting the robot into freedrive mode would require sending script code to the robot manually.
@gavanderhoorn: Would you suggest to remove that edge case and only use RobotMode::RUNNING?
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I would indeed remove it.
motion_possible should reflect whether it is possible to command the robot from the ROS driver/component "as-is" (ie: in the state it currently is in).
That would not include hypotheticals I believe.
cjue
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Oct 6, 2023
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I think it does make sense to add this little check. Otherwise
motion_possiblewill be true also if the robot is actually switched off.