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Feedback from UR controller

Does the UR controller (CB3/UR10) provide any feedback (such as move complete/acknowledgement ) given trajectory commands from ur_modern_driver through ROS or UR script commands directly such as movej?

I read from this link : https://github.com/ThomasTimm/ur_modern_driver/issues/162

There's no way to detect whether "the script" has finished. That is a limitation of the infrastructure provided by UR, not of the driver btw

Feedback from UR controller

Does the UR controller (CB3/UR10) provide any feedback (such as move complete/acknowledgement ) given trajectory commands from ur_modern_driver through ROS or UR script commands directly such as movej?

I read from this link : https://github.com/ThomasTimm/ur_modern_driver/issues/162

There's no way to detect whether "the script" has finished. That is a limitation of the infrastructure provided by UR, not of the driver btw