alaurenzi
commented
4 years ago The bug is due to the xbotcore seeing a "hole" in the sequence identifier for the impedance fields of the control message. It is indeed a bug, because users are unable to change control mode during runtime. I'll think to a solution. Meanwhile you can comment the relevant lines on XBotNRTRef plugin so as to disable the check. @liesrock
liesrock
Sending commands to the robot after having changed the robot control mode back and forth (i.e. from Position to Stiffness to Position again) aborts the communication with the error: "Detected X dropped messages for joint ...". @alaurenzi