Every function in dobot_communication that sends a control command to the Dobot will now return a bool indicating whether the action was successful. The user now has the option to get the queued command index of that command by passing a variable.
Functions and services in dobot_communication, dobot_driver, dobot_ros_wrapper have been updated to adapt to the new changes mentioned above.
New Features
Added 4 new queued command control functions and services. The commands allow the user to start the execution of the queued commands, stop the execution, force stop, and clear the queued commands buffer of the Dobot
Added a software "e-stop" function and service. By calling the e-stop function or service, the Dobot will stop moving, turn off all IO ports, pump, and any stepper motor that is connected. The initialise function or service will need to be called to restart the Dobot.
Added a service that allows the initialisation of the Dobot. On initialisation, the Dobot will turn off the stepper motors and IO ports.
Added 2 new functions and services that allow the control of the linear rail.
Note
By default, on initialisation of the node, the use of the linear rail will be set to false. To home the Dobot with the rail, it will need to be turned on manually after the first initialisation.
The e-stop will not turn off the linear rail functionality.
Queued command stop command will finish the queued command that is currently executed by the Dobot and then stop. Queued command force stop will stop the Dobot immediately.
Fixes
New Features
Note