ABB driver locks up after stop command sent

[GoogleCodeExporter]

What steps will reproduce the problem?
1. Start the abb robot and driver.  In the blue room, the command is: roslaunch 
abb_common robot_interface.launch robot_ip:=192.168.32.4 J23_coupled:=true
2. WARNING: THE FOLLOWING STEPS CAUSE ROBOT MOTION, MAKE SURE THE WORKSPACE IS 
CLEAR AND YOU HAVE THE ESTOP.  The motion in the attached bag is safe for the 
blue room.  It executes motion in the right quadrant of the robot workspace 
over the table.
2. Play the attached bag with a delay of 2 seconds: rosbag play -d2 
abb_debug.bag.  The robot should perform multiple motions.  The pendant will 
show a final motion with 0 points (i.e. a stop command)
3. Play the bag a second time.  No motion results

What is the expected output? What do you see instead?

The robot should execute the motion when the bag is played a second time.  No 
motion is executed and no messages are printed on the pendant screen.  
Restarting the driver clears the issue.


Please use labels and text to provide additional information.

Original issue reported on code.google.com by [email protected] on 5 Jun 2013 at 12:01

Attachments:

• abb_debug.bag