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ros-industrial / motoman

ROS-Industrial Motoman support (http://wiki.ros.org/motoman)
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Fix pendant mode switch issue #568

Closed EricMarcil closed 7 months ago

EricMarcil commented 9 months ago

If the pendant mode switch is turned during the ROS motion the robot stops, but then when the playback is reenabled and the mode switch back to Remote mode, the robot moves because data in the motion queue was not cleared.

This PR fixes the issue #567 Unwanted motion when switching pendant mode

ted-miller commented 9 months ago

I'm not sure why this is necessary. Shouldn't this line get called when switching to play? https://github.com/EricMarcil/motoman/blob/c2900ccffeaf953a2377b358d41ede5fb030a0c8/motoman_driver/MotoPlus/MotionServer.c#L1853

AFAICT, that's how MotoROS2 is handling the same situation.

EricMarcil commented 9 months ago

Not necessarily. It depends on the timing when the key switch is turned. If the key is switch while the code is on the mpClkAnnounce https://github.com/EricMarcil/motoman/blob/c2900ccffeaf953a2377b358d41ede5fb030a0c8/motoman_driver/MotoPlus/MotionServer.c#L1691 Then the Ros_Controller_IsMotionReady in the condition below is false and the code you are referring to is never reached.

New data coming from ROS get rejected elsewhere, but the motion in the queue ring buffer is not cleared.

So when the key is switched back to Remote and Ros_Controller_IsMotionReady becomes true, the remaining motion in the ring buffer gets executed.

If the key is switch while you are already passed that condition on line 1693, then the code you referred gets executed and there is not problem. You might want to restest a few times on MotoRos2.

EricMarcil commented 9 months ago

@ted-miller Can you also review and test on multi-robot system this PR when you get your Ros1 system running.

ted-miller commented 9 months ago

Can you also review and test on multi-robot system this PR when you get your Ros1 system running.

I was able to reproduce the issue using 1.9.11 and verify that this fixes it. This was on an R1+R2+S1 system.