search

Yaskawa-Global / motoros2

ROS 2 (rcl, rclc & micro-ROS) node for MotoPlus-compatible Yaskawa Motoman robot controllers
95 stars 16 forks source link

Consider publishing per-group `RobotStatus` msgs #30

Open gavanderhoorn opened 1 year ago

gavanderhoorn commented 1 year ago

MotoROS2 currently only publishes a single RobotStatus message which is an aggregate of the status of the complete controller (ie: all groups).

It might be a nice enhancement for MotoROS2 to publish per-group status messages, as the aggregate might not provide sufficient information about individual motion groups.

While asynchronous motion currently isn't supported, it's still possible for motion groups to not be involved in trajectories. With per-group status messages, it would be possible to convey the fact certain groups are in fact not in_motion, while others are.

A similar rationale could be given for motion_possible and drives_powered (individual groups can be disconnected from the controller, which currently can not be communicated using the aggregate message).

gavanderhoorn commented 1 year ago

This is low-priority and was added to untargeted.