Merge pull request #2 from fmauch/robot_status

axelschroth · web-flow · commit e03bb3fff83e · 2020-04-20T14:19:32.000+02:00
set motion_possible to true only of robot can be actually moved
diff --git a/ur_robot_driver/src/ros/hardware_interface.cpp b/ur_robot_driver/src/ros/hardware_interface.cpp
@@ -695,10 +695,15 @@ void HardwareInterface::extractRobotStatus()
   {
     robot_status_resource_.motion_possible = TriState::FALSE;
   }
-  else
+  else if (robot_mode_ == ur_dashboard_msgs::RobotMode::RUNNING)
+
   {
     robot_status_resource_.motion_possible = TriState::TRUE;
   }
+  else
+  {
+    robot_status_resource_.motion_possible = TriState::FALSE;
+  }
 
   // the error code, if any, is not transmitted by this protocol
   // it can and should be fetched separately

Original file line number	Diff line number	Diff line change
`@@ -695,10 +695,15 @@ void HardwareInterface::extractRobotStatus()`
`695`	`695`	`{`
`696`	`696`	`robot_status_resource_.motion_possible = TriState::FALSE;`
`697`	`697`	`}`
`698`		`- else`
	`698`	`+ else if (robot_mode_ == ur_dashboard_msgs::RobotMode::RUNNING)`
	`699`	`+`
`699`	`700`	`{`
`700`	`701`	`robot_status_resource_.motion_possible = TriState::TRUE;`
`701`	`702`	`}`
	`703`	`+ else`
	`704`	`+ {`
	`705`	`+ robot_status_resource_.motion_possible = TriState::FALSE;`
	`706`	`+ }`
`702`	`707`
`703`	`708`	`// the error code, if any, is not transmitted by this protocol`
`704`	`709`	`// it can and should be fetched separately`