DANGER: Robot Teleportation

[doshininad]

I am controlling UR10 with ROS2 driver given in this repository.
When I Estop the robot and start it back, I experience robot teleportation (the robot moves with a very high speed and then it stops because the robot controller detects internal collision)

The exact steps I followed are:

• Run ROS2 Driver and MoveIt2 Script on the PC
• Run Ext_Ctrl URCap on the UR robot
• Set a goal position in Rviz
• Plan the trajectory using 'Plan' in Rviz
• Execute the trajectory using 'Execute' in Rviz
• Estop the robot (on the Teach Pendent) before the trajectory is completed
• Remove the Estop and activate the robot from Teach Pendent
• Play the ext_ctrl URCaps on Teach Pendent
• Robot Teleportation
• Robot stops as the robot controller detects internal collision and stops the robot

This is very dangerous move (more specifically for a collaborative robot). I don't know if it is because I am using it in wrong way or a bug. But, it needed to be fixed as it is dangerous.

IMG_7919.mp4

[urrsk]

With the information giving, I believe that your planner is keep sending targets to the robot without knowing that the robot is stopped and not moving.

May I ask which controller you are using?

I will strongly suggest that you are using the scaled_joint_trajectory_controller as this loops pack the speed-scale of the robot including pausing the trajectory execution if the robot program is Emergency or safeguard stopped as well as pause

[fmauch]

Closing this as a solution was proposed quite some time ago and we never heard back.