Hello,
I’m currently controlling a UR3e using the External Control cap and ROS2. Currently, the arm is moving quite well by sending an interpolated path generated by CuRobo (not using MoveIt). However, the issues begin when I try to interrupt the motion trajectory using the “/scaled_joint_trajectory_controller/follow_joint_trajectory/_action/cancel_goal” service. During some calls, the motion is interrupted as expected, with no warnings or errors. However, on some instances the pendant will pause program execution due to the safety message/protective stop:
“C271A1: Low level real-time thread: Runtime is too much behind.”
The suggestions recommend in the pop up adding a Wait or sync() to the program, however the program is exclusively the External Control block, so there’s no real place to break up the script.
I appreciate any insight that could be provided. Thanks!