It would be nice to have a new boolean "enable" service that could be used to
enable or disable an individual joint controller. The idea is that if the servo
is disabled ("enable false") then subsequent position requests would be
ignored. This is different from the existing torque_enable service since
position commands sent after a "torque_enable false" automatically re-enabled
the torque and move the servo anyway.
Motivation: I am trying to build in some better servo overheating protection
when using MoveIt for extended periods of time. I have a node that will monitor
servo temperatures (e.g. using /diagnostics) and will disable a servo if a
temperature threshold is exceeded. It will then re-enable the servo when the
temperature falls below a second threshold. I can't use the existing
torque_enable service for this purpose for the reasons above. Using mux gets
messy when dealing with so many individual controllers and I don't think mux
can be made to work with MoveIt anyway.
Original issue reported on code.google.com by PiRobotProductions@gmail.com on 27 Jul 2013 at 4:05
Original issue reported on code.google.com by
PiRobotProductions@gmail.comon 27 Jul 2013 at 4:05