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driver: 'motion_possible' should not be 'true' if relay isn't running #108

gavanderhoorn opened this issue Jun 22, 2014 · 0 comments


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@gavanderhoorn gavanderhoorn commented Jun 22, 2014

The current implementation does not take the running state of the ros_relay program into account. This can make the driver report that motion is possible, even though the ros_relay program is not actually running.

This should be fixed: program state (running, paused or aborted) of ros_relay should be included in the robot_status logic.

@gavanderhoorn gavanderhoorn self-assigned this Jun 22, 2014
gavanderhoorn pushed a commit to gavanderhoorn/fanuc that referenced this issue Dec 19, 2014
Uses GET_TSK_INFO(..) routine to determine whether both the trajectory
relay (ros_relay) and the motion statemachine are actually running. If
they are not, motion is not possible.

Both the ros_state and ros_relay KAREL program are now started from the
main TP program using RUN(..). This makes it easier to resume ros_movesm
if it ever gets into PAUSED state.
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