I managed to write a script that recieves command from joystick otherwise uses the position controller. However, I need to update the state of the controller or reset the controller otherwise the controller brings the arm back into the state before gamepad’s commands. once I stop the controller it sops the communication and I get this error: Pipeline producer overflowed! . why? how to overcome this problem?
Thanks in advance.
I think in order to help you, we would need to have a look at your code. Otherwise it is very hard to understand what you are actually doing…
Ok, lets assume I’m using the original C++ driver (without my modification): https://github.com/UniversalRobots/Universal_Robots_ROS_Driver. I want to reset the active controller during the main loop, so the new joints state (not the last or current joints state) will take place in the controller param.