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Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
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Issue 114 Start Traj Mode failure exiting Eco Mode #214

Closed yai-rosejo closed 7 months ago

yai-rosejo commented 7 months ago

114 Covers when /start_traj_mode fails while eco mode is set. While testing out /start_traj_mode I found that fjt also failed when in eco mode. By increasing the fjt delay and moving it into startMotionMode this got rid of eco issues with fjt and potentially resolves the start_traj_mode issues.

Tested on controller with no arm and controller with arm. Test procedures:

  1. Run microros
  2. Hit e-stop
  3. Reset e-stop
  4. Send: ros2 service call /reset_error motoros2_interfaces/srv/ResetError
  5. Send: ros2 service call /start_traj_mode motoros2_interfaces/srv/StartTrajMode
  6. Wait until energy-saving mode turns on
  7. Send fjt command
ted-miller commented 7 months ago

I'm still not clear exactly why increasing the delay is necessary when eco-mode is involved.

But I do like that the delay is moved from the FJT handling to the more generalized StartMotionMode. And the testing was pretty clear.

ted-miller commented 7 months ago

waiting on ci