Fix alarm code in robot status

ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)

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Fix alarm code in robot status #422

Closed ted-miller closed 3 years ago

ted-miller commented 3 years ago

If there is an alarm of any type other than "user alarm", then the alarmCode will be zeroed out. This fixes the alarmCode so that it is populated correctly.

ted-miller commented 3 years ago

Awaiting test results from the person who reported the problem.

AGregg commented 3 years ago

Just to record what we did to test. We had been triggering the shock sensor on a robot while monitoring the robot status ros topic. Before installing this update on the robot controller, the alarm code would not populate in the error_code field of the topic message, but after installing the updated driver the alarm code came through.

PXL_20210901_185549419~2

gavanderhoorn commented 3 years ago

@ted-miller: if we merge #417, could you build 1.9.7?