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Add support for using the Tool contact in the ROS2 driver #897

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5 tasks
urrsk opened this issue Dec 20, 2023 · 0 comments · May be fixed by #940
Open
5 tasks

Add support for using the Tool contact in the ROS2 driver #897

urrsk opened this issue Dec 20, 2023 · 0 comments · May be fixed by #940
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@URJala @urfeex
Labels
enhancement New feature or request

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@urrsk
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urrsk commented Dec 20, 2023 •
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Feature summary

Add support for using the Tool contact feature that already have been added to the Client Library

Expose UR's Tool contact controller feature to enable fast reaction and stop of a commanded trajectory when the tool gets into a contact in the motion direction.

Related issues

UniversalRobots/Universal_Robots_Client_Library#138

Tasks

To complete this issue involves

  • Implement the feature
  • Make documentation
  • Make Unit test
  • Make example
  • Test on real hardware
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Assignees

@URJala URJala

@urfeex urfeex

Labels
enhancement New feature or request
Projects
ROS - Support for Force Mode, Freedrive, Tool contact and Output change through external control
Status: Todo
Milestone
No milestone
Development

Successfully merging a pull request may close this issue.

Added service to enable and disable tool contact URJala/Universal_Robots_ROS2_Driver
3 participants
@urrsk @URJala @urfeex