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PilzDE / pilz_robots

PILZ robot manipulator module PRBT 6 in ROS
https://wiki.ros.org/pilz_robots
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Update acceptancetest_stop1.md #447

Closed martiniil closed 4 years ago

martiniil commented 4 years ago
jschleicher commented 4 years ago 
* We need to press acknowledge again after startup, else the controller is in holding mode.

Yes, that's the current behaviour - just tested with the PRBT. But from a user's perspective an incorrect assumption. Why shouldn't I be able to move the robot, if acknowledge is pressed during launch? I don't like to change the acceptance test but rather fix the implementation. Is this a regression?

martiniil commented 4 years ago 
* We need to press acknowledge again after startup, else the controller is in holding mode.

Yes, that's the current behaviour - just tested with the PRBT. But from a user's perspective an incorrect assumption. Why shouldn't I be able to move the robot, if acknowledge is pressed during launch? I don't like to change the acceptance test but rather fix the implementation. Is this a regression?

We talked about this in the past (I think with @dbakovic). It is not a regression. But it doesn't matter since we agree that it should be fixed.