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ros-industrial / abb_libegm

A C++ library for interfacing with ABB robot controllers supporting Externally Guided Motion (689-1)
BSD 3-Clause "New" or "Revised" License
96 stars 54 forks source link

Allow both RAPID running and undefined states #96

Closed jontje closed 4 years ago

jontje commented 4 years ago

EGM knows about these RAPID execution states:

There is a bug in EGM that after a restart of the robot controller, then RAPID is in the UNDEFINED state even if it has clearly been started. This PR makes both RUNNING and UNDEFINED states acceptable when sending commands. The rationale is that the robot controller should internally ignore EGM commands if it's in a bad state.

It's been like this for some years now, and I have reported it a few times but it has not been fixed so far.

Also, I have used this workaround for years without problems.

gavanderhoorn commented 4 years ago

I've posted in https://github.com/ros-industrial/industrial_ci/issues/515 to figure out why CI is failing suddenly.

mathias-luedtke commented 4 years ago

@gavanderhoorn: please rerun the job :)

gavanderhoorn commented 4 years ago

Seems to have been fixed @ipa-mdl :+1:

thanks for the fix.

gavanderhoorn commented 4 years ago

Thanks @jontje for the PR :+1: