Stop the robot from moving
I'm using the MoveGroupCommander class to move my robot around, like so:
group.set_pose_target(pose)
plan1 = group.plan()
success = group.go(wait=True)
While the robot is executing its movement, how can I force it to stop as fast as possible? I tried using group.stop()
in a separate thread, but that doesn't stop my robot
EDIT: My robot is the fanuclrmate200id, running fanucdriver
Asked by cvancleef on 2017-08-09 10:14:01 UTC
Comments
If you're using
fanuc_driver_exp
, please take note of fanuc_driver_exp#3. If you're usingfanuc_driver
, then #93 might be relevant.Asked by gvdhoorn on 2017-08-09 10:41:23 UTC
So it looks like there isn't a good way to go about doing this at the moment?
Asked by cvancleef on 2017-08-09 11:14:44 UTC
True support for aborting a trajectory is not there, no, although
fanuc_driver_exp
will behave better with it.While executing a trajectory, the robot will stop after a goal abort, but depending on the density of the traj, it may be a bit later than would be absolutely necessary.
Asked by gvdhoorn on 2017-08-09 11:36:36 UTC
Btw: this question was/is unanswerable without the knowledge what robot driver you are using. I happened to know that, hence my comment, but in the future please do include all potentially relevant information.
Asked by gvdhoorn on 2017-08-09 11:37:25 UTC