Can I interrupt the UR5 movement/trajectory?
Hello, I am working with an older Version of the UR5 with CB1 Version 1.5.7849 and ROS Indigo.
I would like to perform a continuous move of one axis in one direction as long as I have a signal from a sensor. When the signal turns off, the robot should stop.
My problem with this is, that ROS always (?) requires an end-point of the trajectory. To handle that problem, I thought about performing a 360° spin of that one axis and stop the robot during execution of the path. Can I do that? Like to remove the last X waypoints of the trajectory? Something like a safety stop, but without turning the robot in safety mode. Thanks in advance, Veit
Could you specify which (if any) driver components you are using?
what do you mean by that? im currently controlling the UR5 through move_group if thats what you're asking.
How are you interfacing with your CB1 control box? Which ROS component do you use for that?
I installed the following packages: universal_robot, rviz, moveit,
the UR package connects to the robot via ethernet.