How to program Pause & Resume for a robotic arm ?

asked 2022-08-29 08:09:53 -0500

Dhara gravatar image

updated 2022-08-31 03:47:08 -0500


I am working with robotic arm for pick & place project. The main challenge I am facing right now is to implement the resume feature in the program. For Stop or Pause, I am subscribing to the sensor data, whenever sensor sends True, the robot stops until the sensor send FALSE. But the problem is the program now starts from beginning and not from where it stopped. How can I resume the program where the program stopped?

I am working with move_group_python interface.

Any guidance will be very appreciated. Thanks !

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What mechanism are you currently using to stop the robot? Is it the moveit_commander.move_group.MoveGroupCommander.stop() method?

cstarr gravatar image cstarr  ( 2022-08-31 19:09:56 -0500 )edit

yes, I used stop() method.

Dhara gravatar image Dhara  ( 2022-09-02 05:33:40 -0500 )edit