Hand over from a job to MotoROS2

[atajafari]

Hello,
I tried to look for my question in the discussions, however couldn't find any related one. So I decided to open a new discussion.
I am wondering if it is possible to hand over the control from a job (let's say a pick and place job) to the trajectory mode of MotoROS2?
So the pick and place task is programmed via the teach pendant by our system integrators. And inside it there is a section where the trajectory generated in the simulation should be carried out via MotoROS2.
Thank you in advance for your replies.

[jimmy-mcelwain]

This should help, it's a very similar idea in ROS 1 ros-industrial/motoman#463

Right now we do not have job control from MotoROS2, though that is planned (see #278 and #451). If that was done, maybe this would be easier. But this should be possible.

You are able to customize INIT_ROS (see here). With a custom replacement for INIT_ROS and I/O manipulation used to coordinate between the ROS 2 program controlling the robot during the planned trajectory and the inform job you can probably achieve what you're trying to do. Definitely look at the ros-industrial/motoman link above.