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doosan-robotics / doosan-robot

ROS for Doosan Robot
BSD 3-Clause "New" or "Revised" License
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Can you plese give some advice on how to (programatically) recover the robot after a protective stop (using ROS/services, not the teach pendant). #117

Closed YoungsunKwon closed 1 year ago

YoungsunKwon commented 2 years ago

Can you plese give some advice on how to (programatically) recover the robot after a protective stop (using ROS/services, not the teach pendant). The cases I am lookin into are:

Case 1: Resume operation after a collision with a ceiling The robot is moved upwards using MoveLine until stops against the ceiling. The robot re-initializes automatically, but whenever we try to move down again (after the brakes have unlocked) we immediately get a new protective stop.

What is the correct (and reliable) way of re-initializing the robot and move away from the ceiling?

Case 2: Resume operation after having driven a joint past the joint limit Currently, we've only been able to resolve this by using recovery mode from the teach pendant.

How can this situation be resolved programatically?

doosan-robotics commented 2 years ago

Case 1 Use the set_robot_control command to change the robot state to recovery mode and move.

Case 2 Same as case1.

buswayne commented 3 months ago

@YoungsunKwon did you manage to solve it with the indication given above? I haven't quite understand how to do it precisely