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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 203 auto switch cycle mode #229

Closed yai-rosejo closed 3 months ago

yai-rosejo commented 6 months ago

203

A continuation of the discussion and development of the cycle mode. These small changes allow Ros_MotionControl_StartMotionMode() to verify that the system is in a continuous cycle mode, and if it isn't it will try to set the cycle mode to continuous.

ted-miller commented 5 months ago

Just realized that I missed this. I'll validate in the next day or so. But the code changes look OK with a quick glance.

gavanderhoorn commented 5 months ago

I'm still wondering whether it would help raising an alarm if for some reason we can't change the cycle setting, in addition to the debug log statement.

(the service call will of course still fail with an appropriate message)

ted-miller commented 5 months ago

I agree that an alarm is warranted if the set-operation fails and the current cycle is STEP.

gavanderhoorn commented 4 months ago

Friendly ping?

ted-miller commented 4 months ago

Apologies for the delay. I will look at this again later in the week.

gavanderhoorn commented 4 months ago

I've added (a) named constant(s) in a461aeed7ecf9f5daf9e1806c05241ac5c4e4e0f and rebased on top of main as this was otherwise in conflict (due to move of header to the new lib sub dir).

ted-miller commented 3 months ago

build-check was verified locally.