How can I stop the UR10 robot execution in Gazebo?

asked 2019-09-26 00:59:10 -0500

Terry123 gravatar image

updated 2019-10-08 00:51:40 -0500

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


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.

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