Description
Summary
The issue I am experiencing is not yet listed on the existing issues
Introduction to the issue
Versions
- ROS Driver version:
- Affected Robot Software Version(s): 5.12.0-2
- Affected Robot Hardware Version(s): UR10e
- Robot Serial Number:
- UR+ product(s) installed:
- URCaps Software version(s):
Impact
not being able to switch to freedrive mode
Issue details
when using the freedrive service implementation suggested here freedrive service there's an error in the teach-pendandt that reads freedrive_mode(): Arguments 'a' and 'V' must be positive. as described before this only happens on polyscope 5.12, it works perfectly fine on 5.11.
I found this bit on the official Ur forum: apparently it's a bug on the 5.12.x versions less than 5.12.4(bug fixed). I recon it's important to put this info here because it's my understanding (maybe I am wrong) that they are changing the way freedrive should be used, and it might be important for #546 and #573
Project status at point of discovered
When did you first observe the issue?
when testing on a robot with polyscope 5.12.0
Steps to Reproduce
launch driver and trying to call freedrive service
Expected Behavior
robot entering freedrive mode
Actual Behavior
error on teach pendant screen
Workaround Suggestion
for now downgrade to 5.11 or upgrade to 5.12.4