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Support for control mode changes in Real Time #74

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Svastits opened this issue Mar 7, 2023 · 3 comments · Fixed by kroshu/kuka_controllers#3, kroshu/kroshu_ros2_core#13 or #80
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Support for control mode changes in Real Time #74

Svastits opened this issue Mar 7, 2023 · 3 comments · Fixed by kroshu/kuka_controllers#3, kroshu/kroshu_ros2_core#13 or #80
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@VX792 @altex111
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enhancement Usability improvement or optimization iiQKA-ECI Related only to the iiQKA EAC driver

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@Svastits
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Svastits commented Mar 7, 2023

A controller should be implemented, which can change the control mode of a hardware interface in inactive state
@Svastits Svastits added enhancement Usability improvement or optimization iiQKA-ECI Related only to the iiQKA EAC driver labels Mar 7, 2023
@altex111
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altex111 commented Apr 3, 2023 •
edited

Tasks:

  • Controller for control mode change that can communicate the hardwer interface (this is the only way)
  • Make changes in the hardware interface for the controller
  • Test if the controller is working, create a way to test it from the Robot Manager Node
  • Create a controller handler class so the control mode and the active controller tracking is outside the robot manager node
  • make the controller handler class part of the kroshu_ros_core
  • Integrate controller handler into the driver
  • Testing
  • Test before merge

@altex111 altex111 linked a pull request May 2, 2023 that will close this issue
Feature/control mode handler kroshu/kuka_controllers#3
Merged
@altex111 altex111 changed the title Support for control mode changes in inactive state Support for control mode changes in Real Time May 9, 2023
This was linked to pull requests May 23, 2023
Feature/controller handler kroshu/kroshu_ros2_core#13
Merged
Feature/controller for control modes #80
Merged
@altex111 altex111 reopened this May 26, 2023
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Working properly, but two branches has to be merged before close

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altex111 commented Jun 2, 2023

One more merge needed

@altex111 altex111 reopened this Jun 2, 2023
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@altex111 altex111

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enhancement Usability improvement or optimization iiQKA-ECI Related only to the iiQKA EAC driver
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@VX792 @altex111 @Svastits