EuRoC Forum

[joma]

Hey,

there seems to be a problem with the simulation environment:
If the robot crashes into an obstacle (max force of linear axes exeeded), the move along joint path service neither returns an error message nor puts the robot into emergency stop.

regards

[fschmidt]

sorry for the late answer.

yes, the emergency stop (red lights) was not triggered when exceeding the max torque of the linear axes.
the response field "stop_reason" of move_along_joint_path gives me the correct description:
stop due to axes-two-class errors: joint euroc_c2_two_axis::lin_joint2 exceeded maximum force of 120.0N!

i fixed the simulator to also turn the lights red and set the error_message field instead.

this will come with the next release.