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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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Need to press acknowledge again after startup, else the controller is in holding mode #456

Closed jschleicher closed 1 year 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?

_Originally posted by @jschleicher in https://github.com/PilzDE/pilz_robots/pull/447#issuecomment-702689688_

jschleicher commented 4 years ago

During startup, the console shows an error

[ INFO] [1601639295.430965133]: Recovering...
[ INFO] [1601639295.431048654]: Recovering successful
[ERROR] [1601639295.433443366]: Service: /prbt/manipulator_joint_trajectory_controller/unhold failed with error message:
Could not switch to unhold mode (default mode)