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CentroEPiaggio / kuka-lwr

Software related to the KUKA LWR 4+: for real and for simulation.
The Unlicense
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Implement low-level software stop using ROS topic for all interfaces #44

Closed MirkoFerrati closed 7 years ago

MirkoFerrati commented 8 years ago

It's simple, and it works. Probably it does not comply with ROS interfaces and so on, but an emergency stop should not care about whether moveit, ros-actionlib, ros-control and so on are running or not. It should just stop the robot from moving. Bonus: you can resume it by sending start on the same topic!

carlosjoserg commented 8 years ago

@MirkoFerrati thanks, it does comply. In fact, I have something similar the same in my local copy (not pushed yet) in accordance with all updates in #42, and resetting properly the loaded controllers at the moment of the e-stop. And passing a Boolean, not a string. I will wait until I merge to check this alternative.

carlosjoserg commented 8 years ago

This was included in #42 for the kuka FRI node only, so I will leave this open until it's added to the stanford and gazebo interfaces as well.