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tue-robotics / hero_bringup

bringup for the hero robot
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Update robot_service.py #106

Closed PetervDooren closed 2 years ago

PetervDooren commented 2 years ago

To ensure the robot starts immediately instead of requiring the emergency button to be pressed and released at least once

PetervDooren commented 2 years ago

I disagree. This does not reduce safety. Nobody will forget what the big red button is for Intuitively the state depends on the state of the button. No-one would expect a robot to wait for you to press it. That is just our weird behaviour.

MatthijsBurgh commented 2 years ago

@PetervDooren you didn't respond to the most important part of my comment

Also I think the robot shouldn't start automatically by booting. Which will happen when the button is released

PetervDooren commented 2 years ago

I think a robot starting when turned on is not strange behaviour at all

MatthijsBurgh commented 2 years ago

I don't think it is safe. You should be able to boot the robot without the hardware starting.

edit: Yes, this will be possible when the button is pressed. But then you need aware of the button state before powering on the robot. Which is far less idiot and even Tech United Member proof than the current setup. The current setup doesn't require much time. It just requires you to be close to the robot to start it Which is a very safe procedure.

But with the new setup, the robot could be in a pose and blocked to get to the default pose. But this isn't observed by the robot. So by moving to it's default pose it could collide with the environment and damage itself (and the environment).

Safety costs time. By getting the systemd service running again. I think we gained significant time. By skipping this step, we don't gain much time, but we loose a lot in terms of safety.

For me there is 0% doubt about this change. We should not do this

(We might be even breaking the Toyota contract by reducing the safety measures)