Added program running to gpio state interface

urmahp · fmauch · commit a8ac97b4cb6a · 2022-02-28T20:35:22.000+01:00
diff --git a/urdf/ur.ros2_control.xacro b/urdf/ur.ros2_control.xacro
@@ -274,6 +274,8 @@
           <state_interface name="safety_status_bit_8"/>
           <state_interface name="safety_status_bit_9"/>
           <state_interface name="safety_status_bit_10"/>
+
+          <state_interface name="program_running"/>
         </gpio>
 
         <gpio name="payload">
