Stop the robot from moving

asked 2017-08-09 10:14:01 -0500

cvancleef gravatar image

updated 2017-08-09 11:56:27 -0500

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 fanuc_lrmate200id, running fanuc_driver

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Comments

If you're using fanuc_driver_exp, please take note of fanuc_driver_exp#3. If you're using fanuc_driver, then #93 might be relevant.

gvdhoorn gravatar image gvdhoorn  ( 2017-08-09 10:41:23 -0500 )edit

So it looks like there isn't a good way to go about doing this at the moment?

cvancleef gravatar image cvancleef  ( 2017-08-09 11:14:44 -0500 )edit

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.

gvdhoorn gravatar image gvdhoorn  ( 2017-08-09 11:36:36 -0500 )edit
1

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.

gvdhoorn gravatar image gvdhoorn  ( 2017-08-09 11:37:25 -0500 )edit
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