search

Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
96 stars 20 forks source link

Missing check for energy-savings mode #213

Closed ted-miller closed 7 months ago

ted-miller commented 7 months ago

Related to #114 If we are already in PointQueueMode and Ros_ServiceQueueTrajPoint_Trigger is called after energy-savings mode kicks in, then it won't check for eco-mode.

yai-rosejo commented 7 months ago

Energy-savings mode kicks the system out of point_queue_mode. No specific change is required. https://github.com/Yaskawa-Global/motoros2/blob/10d8f00317c5d4ef7960627962337bf72e2ba817/src/MotionControl.c#L1591-L1608