Stop trajectory for motoman robot

asked 2019-02-23 12:06:28 -0500

jcgarciaca gravatar image

I am trying to use stop function for motoman robot, but it does not work when connected with real robot. I do: 

move_group.setJointValueTarget(target_joints);
moveit::planning_interface::MoveGroupInterface::Plan my_plan;
bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
if(success)
{    
    ROS_INFO("Moving");
    move_group.asyncExecute(my_plan);
    ros::Duration(0.5).sleep();
    ROS_INFO("Stopping");
    move_group.stop();
}

If I test above code with demo.launch, the trajectory is planned, the robot lightly moves and then it stops. But if I connect to real robot and run the code, whole trajectory is executed.

How could I stop the real robot?

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Comments

It could be that you're running into ros-industrial/industrial_core#175. I'm not sure though, as motoman_driver has some subclasses for industrial_robot_client behaviour.

gvdhoorn gravatar image gvdhoorn  ( 2019-02-24 05:42:00 -0500 )edit
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