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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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"FreeDriver" of UR5 #340

Closed ghx-0228 closed 4 years ago

ghx-0228 commented 4 years ago

Can I use this driver to extract the "freedrive" signal (off/on) from real UR5?

gavanderhoorn commented 4 years ago

I can't verify whether we're publishing it already, but the RT state data contains a field robotMode that encodes what mode the robot is in. BACKDRIVE or FREEDRIVE would indicate whether the freedrive button is being pressed (or actually: whether the robot is actually in that mode. It may refuse to enter freedrive mode).

gavanderhoorn commented 4 years ago

Closing as it's not an issue with the package in this repository (right now).

If you can't make this work, please log as an enhancement -- and submit a PR if you'd like this supported. Otherwise it may take a while before this is implemented.