Using freedrive mode triggers error on teach pendant: freedrive_mode(): Arguments 'a' and 'V' must be positive

[faev999]

Summary

The issue I am experiencing is not yet listed on the existing issues

Introduction to the issue

Versions

• ROS Driver version:
• Affected Robot Software Version(s): 5.12.0-2
• Affected Robot Hardware Version(s): UR10e
• Robot Serial Number:
• UR+ product(s) installed:
• URCaps Software version(s):

Impact

not being able to switch to freedrive mode

Issue details

when using the freedrive service implementation suggested here freedrive service there's an error in the teach-pendandt that reads freedrive_mode(): Arguments 'a' and 'V' must be positive. as described before this only happens on polyscope 5.12, it works perfectly fine on 5.11.

I found this bit on the official Ur forum: apparently it's a bug on the 5.12.x versions less than 5.12.4(bug fixed). I recon it's important to put this info here because it's my understanding (maybe I am wrong) that they are changing the way freedrive should be used, and it might be important for #546 and #573

Project status at point of discovered

When did you first observe the issue?
when testing on a robot with polyscope 5.12.0

Steps to Reproduce

launch driver and trying to call freedrive service

Expected Behavior

robot entering freedrive mode

Actual Behavior

error on teach pendant screen

Workaround Suggestion

for now downgrade to 5.11 or upgrade to 5.12.4

[github-actions]

This issue has not been updated for a long time. If no further updates are added, this will be closed automatically. Comment on the issue to prevent automatic closing.

[fmauch]

Since this has never been responded to, this should not get closed before further investigation is done.

[github-actions]

This issue has not been updated for a long time. If no further updates are added, this will be closed automatically. Comment on the issue to prevent automatic closing.

[github-actions]

This issue has been closed due to inactivity. Feel free to comment or reopen if this is still relevant.