Fix gripper hang after tool-changer swap#15
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Joseph Borodach (JosephBorodach) wants to merge 17 commits into
Open
Fix gripper hang after tool-changer swap#15Joseph Borodach (JosephBorodach) wants to merge 17 commits into
Joseph Borodach (JosephBorodach) wants to merge 17 commits into
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Joseph Borodach (JosephBorodach)
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martha-johnston
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martha-johnston
July 15, 2026 16:21
Joseph Borodach (JosephBorodach)
requested review from
Nicolas Palpacuer (NickPPC) and
martha-johnston
and removed request for
Nicolas Palpacuer (NickPPC) and
martha-johnston
July 17, 2026 12:55
Joseph Borodach (JosephBorodach)
requested review from
Nicolas Palpacuer (NickPPC) and
martha-johnston
July 17, 2026 13:35
| // Don't fail construction if no gripper is coupled yet: a tool changer may | ||
| // attach one later and call activate. Avoids construction-retry churn. | ||
| if err := g.activate(ctx); err != nil { | ||
| logger.CWarnf(ctx, "robotiq: initial activation failed "+ |
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We should probably make this config dependent. I don't think "if the machine cannot connect to the gripper don't worry about it" is a good default. If someone misconfigures a gripper it should fail loudly. If someone intentionally configures a gripper which may not be connected it should be allowed but it should be explicit
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Problem
After a tool-changer swap, the gripper hung and timed out on every command until the module was restarted
Why in hung
After a tool-changer swap the gripper resets to
STA 0, but a bareACT 1is a no-op, so it never re-activated and hung on every commandAnother issue is calibration could store a bad limit (
POS ?) and sendSET POS ?, which the URCap ignores --> read blocks until timeout.Solution
reactivateforcesACT 0 --> 1and waits forSTA 3Manual Testing
Manually tested using the tool changer on hardware