Dashboard Server remote mode

[zkeyg]

Affected ROS2 Driver version(s)

humble

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.

Real robot

Robot SW / URSim version(s)

latest

How is the ROS driver used.

Through the robot teach pendant using External Control URCap

Issue details

Summary

Short introduction to the issue and how it impact you and why Is there a way to query if the dashboard server is in Remote mode?

Issue details

Detailed description help us understand the problem. Code are welcome!

Steps to Reproduce

Make simple example to reproduce the issue. Try to remove dependencies to other hardware and software components, if it is possible.

Expected Behavior

What did you expect and why?

Actual Behavior

What did you observe? If possible please attach relevant information.

Workaround Suggestion

If a workaround has been found, you are welcome to share it.

Relevant log output

No response

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[urfeex]

We currently don't have a direct service call to support this, but the dashboard server itself supports querying for remote control mode. For a full dashboard server documentation, please see https://www.universal-robots.com/articles/ur/dashboard-server-e-series-port-29999/

In short, you can make any dashboard call using the raw_request service:

$ ros2 service call /dashboard_client/raw_request ur_dashboard_msgs/srv/RawRequest "query: 'is in remote control'"               [ur_rolling]
waiting for service to become available...
requester: making request: ur_dashboard_msgs.srv.RawRequest_Request(query='is in remote control')

response:
ur_dashboard_msgs.srv.RawRequest_Response(answer='true')

[zkeyg]

Thank you @urfeex This is truly very helpful.