McePosTable version
0.2.0
Description of the new feature / enhancement
This is about adding a mechanism which prevents the motion of a PosTable entry to be executed until the configured start conditions for that entry are satisfied. So PosTable would schedule a standstill and only proceed after the start conditions are satisfied.
Ideally, if the conditions are already satisfied in-time, the robot should not have any short standstill, but smoothly continue its trajectory (blended motion).
Implementation
This mechanism only checks before starting the motion. Once the motion of an entry has started, the start conditions are disregarded. So it cannot be used for aborting an already started motion.
The used should be informed about the status of the missing start conditions.
Further specification in the pull request
Scenario when this would be used?
- Pick and place
Robot needs to wait for authorisation to enter a station/area
- Checking for parts
Robot needs to wait until all parts have been placed in e.g. a welding jig.
To keep the PR's small, this feature will be implemented in two steps: