Closed natharos closed 5 years ago
Which version of the driver are you using? And how are you starting it (e.g. "default", ros_control
, low bandwidth mode)?
The issue is likely that even if the data streams coming from the robot are re-connected, the URScript program that's uploaded to the robot in order to control it has been stopped when switching to manual mode and is not re-uploaded/started when switching back to remote mode.
If you're using the ros_control
mode, re-uploading can be triggered by stopping and starting the controller back. Otherwise, I think your only option is to kill the driver and start it again.
In theory, we could try to detect this situation and upload the program again automatically, but I don't think I'll have much time to look into this in the following weeks. PRs are welcome.
I'm going to close this due to inactivity.
ROS Kinetic Ubuntu 16.04 UR10e robot
When the robot is set to Manual mode and then back to Remote mode with the teach pendant, ROS states that it is reconnected to the robot, but new trajectories are not received and executed anymore. ROS is stuck at "Uploading trajectory program to robot". How can I fix this?