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Kawasaki-Robotics / khi_robot

ROS KHI robot meta-package
http://wiki.ros.org/khi_robot
BSD 3-Clause "New" or "Revised" License
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How to make the robot active again after sending HOLD with khi_robot_command_service #73

Closed wakasaki41 closed 1 year ago

wakasaki41 commented 1 year ago

We are working with RS080n and tried to use khi_robot_command_service to send HOLD and CONTINUE signals from the safety system. The HOLD signal worked well, but we could not get it back to the active state with the CONTINUE signal.

How can I transition the robot to the active state?

matsui-hiro commented 1 year ago

When stopping the robot, you can use type : as cmd: HOLD of khi_robot_command_service .

But to reactivate driver, please use type : driver (not type : as) .

string type -> "driver" string cmd -> "restart"

Sending cmd: restart reactivates driver.

Please see this for details.

wakasaki41 commented 1 year ago

Thank you very much. I have tried the reboot command as it is. What kind of error is this?

$ rosservice call /khi_robot_command_service "type: 'driver'
cmd: 'restert'"
driver_ret: -4096
as_ret: 0
cmd_ret: "INVALID CMD"
matsui-hiro commented 1 year ago

Hi @wakasaki41,

From the error log, I found a spelling mistake. Please execute cmd:restart not cmd:restert.

wakasaki41 commented 1 year ago

Thank you very much , It worked !