Publish the robot's control mode

[urfeex]

Feature summary

We could publish the current control mode as received by the primary interface. It is available in the RobotModeData message already.

Related issues

Links to related issues internal or external to this repo

Tasks

To complete this issue involves

• Implement the feature
• Make documentation
• Make Unit test
• Make example
• Test on real hardware

[abdela47]

Hi,
I’d like to give this a try if the issue is still unassigned. I’m new to this repository, but I’m motivated to learn and happy to ask questions or iterate based on feedback.

Let me know if I can be assigned. Thank you!

[urfeex]

Hi, that is great to hear! The data is available though the primary interface. Hence, you could call ur_driver_->getPrimaryClient()->getRobotMode() in the hardware_interface's read() function to get the data.

In fact, it would probably be best to publish the complete RobotModeData package.

I think, an implementation plan would look something like this.

1. Query the data from the primary client into a hw interface buffer. A call to ur_driver_->getPrimaryClient()->getRobotMode() in the hardware_interface's read() function should do the trick.
2. Add a state interface for the robot control mode in https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/urdf/ur.ros2_control.xacro named robot_control_mode
3. Expose that interface in the hardware interface, similar to https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_robot_driver/src/hardware_interface.cpp#L318-L319
4. Add a new controller called ur_robot_mode_broadcaster to ur_controllers. That could be very similar to the gpio controller, but I would like to have it independent of it.(https://github.com/UniversalRobots/Universal_Robots_ROS2_Driver/blob/main/ur_controllers/src/gpio_controller.cpp). The broadcaster should publish a message of type ur_msgs/msg/RobotModeDataMsg. That message should be updated to contain the missing fields.

@abdela47 Would you be up for doing that? Then I will assign this issue to you.

[abdela47]

Hi, thanks for the detailed guidance — that helps a lot!
Yes, I’d be happy to take this on. I’ll follow the outlined plan: buffering the RobotModeData in the hardware interface, exposing the robot_control_mode state interface, and implementing a dedicated ur_robot_mode_broadcaster publishing RobotModeDataMsg.

I may come back with a few clarification questions as I work through the codebase, but I’m happy to proceed. Please go ahead and assign the issue to me. Thanks!

[urfeex]

@abdela47 Did you find the time to work on this in the meantime? Otherwise I would unassign this again.