ProgramState.msg not used in GPIOController

[firesurfer]

Affected ROS2 Driver version(s)

All

Used ROS distribution.

Iron

Which combination of platform is the ROS driver running on.

Ubuntu Linux with standard kernel

How is the UR ROS2 Driver installed.

Build both the ROS driver and UR Client Library from source

Which robot platform is the driver connected to.

UR E-series robot

Robot SW / URSim version(s)

....

How is the ROS driver used.

Headless without using the teach pendant

Issue details

I just saw that there is a specialized ur_dashboard_msgs::msg::ProgramState message.
It is a bit confusing that the GPIOController uses a std_msgs::msg::Bool message instead for the program state

program_state_pub_ =
        get_node()->create_publisher<std_msgs::msg::Bool>("~/robot_program_running", program_state_pub_qos);

Would be nice if this could be fixed in the long term as for the robot_mode and the safety_mode the dashboard messages are used.

Relevant log output

No response

Accept Public visibility

• I agree to make this context public

[fmauch]

The robot_program_running state actually reports whether the robot is connected to the reverse interface. Sorry for the confusing name that goes back quite a wile...

ur_dashboard_msgs::msg::ProgramState would report whether any program is running on the robot. So, in my opinion the boolean flag does indeed make sense in that context.

[firesurfer]

I see your point. This makes sense.