How can I stop the UR10 robot execution in Gazebo?
I am using Moveit! to control the UR10 robot in Gazebo. I want to stop the current robot motion during execution. I try to use
group.stop()
in my python code, but instead of stopping the execution, the robot suddenly moves to the initial position (all the joint values are 0). Moreover, I try to stop the controllers by calling the service
rosservice call ROBOT/controller_manager/switch_controller "{start_controllers: [], stop_controllers: ['manipulator_controller'], strictness: 1}
This can successfully stop the execution. However, if I want to restart the controller again, the robot still goes to the initial position. I would like to ask that how can I stop the UR10 robot execution in Gazebo? Also, I want to restart to do other actions later. Thanks.
