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ros-industrial / ur_modern_driver

(deprecated) ROS 1 driver for CB1 and CB2 controllers with UR5 or UR10 robots from Universal Robots
Apache License 2.0
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Is it possible to reset a protective stop using the driver? #306

Closed SimonBirrell closed 5 years ago

SimonBirrell commented 5 years ago

Our UR10 does a protective stop from time to time (probably because of a heavy payload). When this happens we typically unlock the arm from the Teach Pendant and move it to a more comfortable position before resuming.

Is this reset something we could do from the driver?

miguelprada commented 5 years ago

I don't think you can do it through this driver, although it should be relatively straightforward to implement that functionality yourself in a separate node that connects to the Dashboard Server (CB-Series and e-Series).

I've used that interface sometimes for convenience (even to power on/off the servos and release the brakes), but keep in mind that it may not be the best idea to do so from the safety perspective.