franka moveit crushes after the external activation device is pressed down about franka_ros2 HOT 5 CLOSED

This is expected behavior. Maybe you can elaborate a bit, what are you trying to achieve, so we can think about changing this in the future. I guess you want to be able to guide the robot and only want to control the robot when you are executing a trajectory in MoveIt2. Is that right?

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This is expected behavior. Maybe you can elaborate a bit, what are you trying to achieve, so we can think about changing this in the future. I guess you want to be able to guide the robot and only want to control the robot when you are executing a trajectory in MoveIt2. Is that right?

Thanks for the fast answer.
And yes, when we are planing&executing some trajectories in Moveit2, there could be some failure cases. We want to guide the robot back to the start position manually by bringing to robot to activated state, and then continue to use Moveit2 node. Otherwise it takes a lot of time to restart the Moveit2.

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So the problem is, that when you launch the MoveIt, it will start a controller that keeps the robot in its current position. When you then press the enabling device, the controller dies. You can try to disable the controller using the ros2 control cli, then guide the robot and then enable the controller again. But I am not sure if that works. What would definitely work is to move the robot back using MoveIt

from franka_ros2.

So the problem is, that when you launch the MoveIt, it will start a controller that keeps the robot in its current position. When you then press the enabling device, the controller dies. You can try to disable the controller using the ros2 control cli, then guide the robot and then enable the controller again. But I am not sure if that works. What would definitely work is to move the robot back using MoveIt

Thanks for your advice, we will add a function that moves the robot back using Moveit2. Closing the issue

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There is also the predefined ready pose that you can use directly as goal pose in Rviz

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