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TechmanRobotInc / tmr_ros1

TM Robots supporting ROS1 drivers and some extended external applications. (experimental) (not support the new TM S-Series)
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Allow disabling stick play #8

Closed Yuki-cpp closed 2 years ago

Yuki-cpp commented 3 years ago

When starting the tm_driver we can use the stick_play value to control whether or not the robot will "press" the stick play button.

The ROS node however does not use that feature, always using the default true value. This means that starting the driver will start the default program on the robot if it is in Auto mode. This is a potential safety issue.

By adding a parameter to the rosnode as well as arguments to the corresponding launch files we can allow the user to enable or disable that behavior. To ensure backward compatibility, default values are provided to keep the previous behavior.

Yuki-cpp commented 3 years ago

@kentsai0319 Any feedback on this? I think this behavior can cause safety issues. Could you consider merging this feature?

Thank you