HC10 Motoman feature requests, issues, and bugs

[jaymwong]

• Allow feedback from Smart Pendant as to what the max tool velocities are set as

• Feedback for Keyence safety scanners (code numbers for SLOWDOWN and STOP), the latter was originally an alarm of code 5001

• Some of the SimpleMessage functions don't appear to be thread safe (e.g. sending a trajectory using the actionlib and then querying if the motion controller is ready causes the driver to hang)

• Fix issue with FSU. If the robot is unable to track a given trajectory, it will eventually preempt inside the controller with no feedback to MotoROS nor to any applications that call into MotoROS which is an extremely annoying bug. This issues is closely related to FSU may limit robot velocity and interfere with MotoROS ros-industrial/motoman#247 which brought up the FSU behavior with MotoROS that results in trajectories not converging to their desired position (and also not reporting feedback) due to it being reduced by the FSU.

• Fix issue with planning over full joint space. There is an interesting bug within MotoROS that if the robot is within 18 degs of the joint limit during a trajectory, the robot will enter a state much similar to the one mentioned above and cause both MotoROS and any application talking through MotoROS to hang indefinitely. Also, this throws a warning.

• MotoROS trajectory smoothing capabilities. The tolerance for EXCESSIVE_SEGMENT appears to be extremely low, thus any planners that communicate to the driver must first relax their trajectories before passing it over to the robot driver. It would be great if the controller or MotoROS itself had a trajectory relaxation/smoothing feature that prevents trajectories from throwing such errors.

[gavanderhoorn]

* Some of the `SimpleMessage` functions don't appear to be thread safe (e.g. sending a trajectory using the `actionlib` and then querying if the motion controller is ready causes the driver to hang)

SimpleMessage is not thread safe at all.

• Fix issue with planning over full joint space. There is an interesting bug within MotoROS that if the robot is within 18 degs of the joint limit during a trajectory, the robot will enter a state much similar to the one mentioned above and cause both MotoROS and any application talking through MotoROS to hang indefinitely. Also, this throws a warning.

Has this been reported?

is it only triggered when an FSU is present?