Enable admittance mode while ros2_kortex is running? #337
Description
(An extension from Issue #209)
Hello, I’m hoping to use the Gen3 robot’s admittance mode to collect waypoints for kinematic teaching. Currently, communicating with a physical robot through ros2_kortex will completely disable the admittance mode, until ros2_kortex is stopped.
I have also tried deactivating both joint_trajectory_controller and twist_controller, the driver really doesn't like this, and robot joint states cannot be correctly read from ROS 2 as the result.
This behavior is expected for joint_trajectory_controller (the user guide mentions that admittance mode cannot be used at 1kHz control). However, it's strange that the admittance mode remains disabled for twist_controller, where the arm is operating under single-level servoing mode through TCP communication. In contrast, ROS 1 driver which communicates with kortex-api at single-level servoing mode does not exhibit this behavior.
Is there any safety concerns for keeping the admittance mode disabled while using ros2_kortex? Is it possible to have the option to not have admittance mode disabled while ros2_kortex is running with twist_controller, for example? Thank you!