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ros-industrial / industrial_core

ROS-Industrial core communication packages (http://wiki.ros.org/industrial_core)
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Added a disable/enable service that stops the industrial_robot_client from accepting any incoming goals #174

Closed pbeeson closed 6 years ago

pbeeson commented 7 years ago

For safety, it is sometimes desirable to have a "software level e-stop". This essentially does that for ROS-I robot by adding a service that "pauses" or "unpauses" the robot by allowing goals to come through. If the robot is paused, any current goal is canceled via the cancelCB() function, stopping the robot.

Discussed here: https://github.com/ros-industrial/motoman/issues/152

gavanderhoorn commented 7 years ago

Thanks for the PR.

Something to think about: semantically I would say that a "paused" robot can be resumed, which would imply it would also resume whatever it was doing. As the pause_robot service cancels any active goal, this is not the case with this implementation.

I'm fine with cancelling the current goal, but then I feel the service should not be called pause_*.

pbeeson commented 7 years ago

I agree, and don't mind changing this to "Halted" or "E-Stopped" or similar.

pbeeson commented 7 years ago

Terminology has been changed from pause/unpause to disable/enable.

gavanderhoorn commented 7 years ago

We should also update the robot driver spec page after we merge this (section 1.3.3, services).

pbeeson commented 7 years ago

@gavanderhoorn I addressed all your issues, as they were reasonable.

Now there are Trigger services for Enagle and Disable and a GetEnabledStatus message in industrial_msgs with an appropriate service. This is also in motoman_driver as desired. Maybe someone can consider testing this PR? It works for us.

shaun-edwards commented 7 years ago

Waiting on discussion in ros-industrial/motoman#155

pbeeson commented 6 years ago

So, I realize this was similar to the PR in the motoman driver, but this is at the industrial client level so it allows users to use and test safe control enable/disable in industrial sim and any other ROS industrial robot at a "mid-level" of the control flow.

pbeeson commented 6 years ago

Closing this PR because I made it from my main branch a year and a half ago and no that branch has other changes that should be separate PRs. PR #215 has the minimal commits that address this PR.