VinDp
commented
1 month ago Hi @zkeyg,
the /io_and_status_controller/robot_program_running topic tells you if our external control script is running, so it is slightly different from what the name would suggest and it makes sense that it stays true even when the program is paused. We will probably update the name to a more fitting one in the future.
But if you want to check if a program is running on the robot, then you can use the services /dashboard_client/program_running and /dashboard_client/program_state, which will return false when the program is paused.
Affected ROS2 Driver version(s)
2.4.8
Used ROS distribution.
Humble
Which combination of platform is the ROS driver running on.
Ubuntu Linux with standard kernel
How is the UR ROS2 Driver installed.
Build both the ROS driver and UR Client Library from source
Which robot platform is the driver connected to.
UR E-series robot, URSim in docker
Robot SW / URSim version(s)
latest
How is the ROS driver used.
Through the robot teach pendant using External Control URCap
Issue details
Summary
/io_and_status_controller/robot_program_running showing true when program is Paused
Issue details
Ran URsim using ROS URcap file when UR program is paused, topic /io_and_status_controller/robot_program_running is still showing true; If the program is somehow paused, should the robot programming running show a status of false? If not I would recommend using a tri-state message to capture this.
Steps to Reproduce
This can be reproduced using UR real robot and URsim docker
Expected Behavior
I would expect this message to be false when the robot is paused; Otherwise this should be a tristate message to better reflect its state for ROS remote control user.
Actual Behavior
/io_and_status_controller/robot_program_running is still showing true when program is in paused mode.
Workaround Suggestion
If a workaround has been found, you are welcome to share it.
Relevant log output
No response
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