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RobotLocomotion / drake-iiwa-driver

BSD 3-Clause "New" or "Revised" License
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Inhibit motion when re-entering command state #23

Closed sammy-tri closed 6 years ago

sammy-tri commented 6 years ago

Don't keep trying to move the robot if we're entering command state for the second time.

It's not likely to go well if our controller is streaming an open loop plan at us.

This change is Reviewable

manuelli commented 6 years ago

Yes I agree this is a good safety. Is there a way to get RLG and TRI back onto the same drake-iiwa-driver revision? Right now the only reason we have diverged is that the FRI driver is specified as a submodule?

sammy-tri commented 6 years ago

I've been meaning to rewrite the bazel build rules to allow some better way to specify where to get the FRI code from, either to specify the repo and then do git_archive or specify a zipfile and then uncompress and patch it early in the build. I've been to lazy to do either but I suspect the day I begin to care more seriously is coming soon. Doesn't help the CMake build much (well, if I quit using a submodule you could keep doing it without much of an effect).

Thanks for looking at the patch!