Fix: safety state control #201
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This changes might make side effects. we need to have more consideration. |
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Related Issue : #197
Description
At hardware initialization, the call to
Drfl.set_safety_mode(SAFETY_MODE_AUTONOMOUS, SAFETY_MODE_EVENT_MOVE);was causing issues, so it has been removed.Additional Information:
In general, motion APIs handle the safety state internally, so there's usually no need to manage it explicitly. As far as I know, the only exception is the
servoj APIused in MoveIt, which doesn't handle safety internally.This case is already managed in the
write sectionof the hardware interface.To handle the safety mode transitions:
Drfl.set_safety_mode(SAFETY_MODE_AUTONOMOUS, SAFETY_MODE_EVENT_MOVE);only once, when detecting the initial change in joint positions.Drfl.set_safety_mode(SAFETY_MODE_AUTONOMOUS, SAFETY_MODE_EVENT_STOP);only once, when detecting the initial point where joint positions stop changing.