{"action":"closed","number":157,"pull_request":{"url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157","id":28304998,"html_url":"https://github.com/ros-industrial/universal_robot/pull/157","diff_url":"https://github.com/ros-industrial/universal_robot/pull/157.diff","patch_url":"https://github.com/ros-industrial/universal_robot/pull/157.patch","issue_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/157","number":157,"state":"closed","locked":false,"title":"Robot Jerks Upon Interrupt (Fix)","user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"body":"Hi. When playing with the test_move.py script included as part of the ur_driver package, a client noticed that running the test_interrupt routine caused a UR10 arm to emergency stop fairly consistently. Running this myself, I noticed that when interrupted with a new trajectory while still executing a previous trajectory, the robot would immediately jump to the first point of the new trajectory.\r\n\r\nCloser inspection of the existing code seems to indicate that in the on_goal() function of the trajectory action server in the ur_driver driver.py file, the sample_traj() function was not being called correctly. It used the absolute time (from time.time()) instead of the offset into the previous trajectory which is used in every other call of this particular function.\r\n\r\nMaking the small change found in my commit seems to fix the \"jerking\" issue for me.\r\n\r\nI should further mention that I did my testing on a UR5 running firmware version 3.0.x and the Hydro-devel branch of universal robot.","created_at":"2015-01-29T19:02:51Z","updated_at":"2015-03-12T13:44:46Z","closed_at":"2015-03-12T13:44:46Z","merged_at":"2015-03-12T13:44:46Z","merge_commit_sha":"422c91bfc4eceb8b730982815887f31e08635e20","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157/commits","review_comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157/comments","review_comment_url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/comments{/number}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/157/comments","statuses_url":"https://api.github.com/repos/ros-industrial/universal_robot/statuses/bcac4f5f3c4e4eea27b24f37b900f6da24a87e48","head":{"label":"Jmeyer1292:interrupt_arms_fix","ref":"interrupt_arms_fix","sha":"bcac4f5f3c4e4eea27b24f37b900f6da24a87e48","user":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"repo":{"id":30031470,"name":"universal_robot","full_name":"Jmeyer1292/universal_robot","owner":{"login":"Jmeyer1292","id":4960180,"avatar_url":"https://avatars.githubusercontent.com/u/4960180?v=3","gravatar_id":"","url":"https://api.github.com/users/Jmeyer1292","html_url":"https://github.com/Jmeyer1292","followers_url":"https://api.github.com/users/Jmeyer1292/followers","following_url":"https://api.github.com/users/Jmeyer1292/following{/other_user}","gists_url":"https://api.github.com/users/Jmeyer1292/gists{/gist_id}","starred_url":"https://api.github.com/users/Jmeyer1292/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Jmeyer1292/subscriptions","organizations_url":"https://api.github.com/users/Jmeyer1292/orgs","repos_url":"https://api.github.com/users/Jmeyer1292/repos","events_url":"https://api.github.com/users/Jmeyer1292/events{/privacy}","received_events_url":"https://api.github.com/users/Jmeyer1292/received_events","type":"User","site_admin":false},"private":false,"html_url":"https://github.com/Jmeyer1292/universal_robot","description":"ROS-Industrial universal robot meta-package. http://ros.org/wiki/universal_robot","fork":true,"url":"https://api.github.com/repos/Jmeyer1292/universal_robot","forks_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/forks","keys_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/keys{/key_id}","collaborators_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/teams","hooks_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/hooks","issue_events_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/issues/events{/number}","events_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/events","assignees_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/assignees{/user}","branches_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/branches{/branch}","tags_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/tags","blobs_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/git/refs{/sha}","trees_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/git/trees{/sha}","statuses_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/statuses/{sha}","languages_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/languages","stargazers_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/stargazers","contributors_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/contributors","subscribers_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/subscribers","subscription_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/subscription","commits_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/commits{/sha}","git_commits_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/git/commits{/sha}","comments_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/comments{/number}","issue_comment_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/issues/comments{/number}","contents_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/contents/{+path}","compare_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/compare/{base}...{head}","merges_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/merges","archive_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/downloads","issues_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/issues{/number}","pulls_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/pulls{/number}","milestones_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/milestones{/number}","notifications_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/labels{/name}","releases_url":"https://api.github.com/repos/Jmeyer1292/universal_robot/releases{/id}","created_at":"2015-01-29T17:13:10Z","updated_at":"2015-01-29T17:13:12Z","pushed_at":"2015-01-29T18:56:53Z","git_url":"git://github.com/Jmeyer1292/universal_robot.git","ssh_url":"git@github.com:Jmeyer1292/universal_robot.git","clone_url":"https://github.com/Jmeyer1292/universal_robot.git","svn_url":"https://github.com/Jmeyer1292/universal_robot","homepage":"","size":22037,"stargazers_count":0,"watchers_count":0,"language":"Python","has_issues":false,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":0,"mirror_url":null,"open_issues_count":0,"forks":0,"open_issues":0,"watchers":0,"default_branch":"hydro-devel"}},"base":{"label":"ros-industrial:hydro-devel","ref":"hydro-devel","sha":"3a5a13129eb482988c98a4d6311419158b37109f","user":{"login":"ros-industrial","id":2932528,"avatar_url":"https://avatars.githubusercontent.com/u/2932528?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-industrial","html_url":"https://github.com/ros-industrial","followers_url":"https://api.github.com/users/ros-industrial/followers","following_url":"https://api.github.com/users/ros-industrial/following{/other_user}","gists_url":"https://api.github.com/users/ros-industrial/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-industrial/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-industrial/subscriptions","organizations_url":"https://api.github.com/users/ros-industrial/orgs","repos_url":"https://api.github.com/users/ros-industrial/repos","events_url":"https://api.github.com/users/ros-industrial/events{/privacy}","received_events_url":"https://api.github.com/users/ros-industrial/received_events","type":"Organization","site_admin":false},"repo":{"id":8745199,"name":"universal_robot","full_name":"ros-industrial/universal_robot","owner":{"login":"ros-industrial","id":2932528,"avatar_url":"https://avatars.githubusercontent.com/u/2932528?v=3","gravatar_id":"","url":"https://api.github.com/users/ros-industrial","html_url":"https://github.com/ros-industrial","followers_url":"https://api.github.com/users/ros-industrial/followers","following_url":"https://api.github.com/users/ros-industrial/following{/other_user}","gists_url":"https://api.github.com/users/ros-industrial/gists{/gist_id}","starred_url":"https://api.github.com/users/ros-industrial/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ros-industrial/subscriptions","organizations_url":"https://api.github.com/users/ros-industrial/orgs","repos_url":"https://api.github.com/users/ros-industrial/repos","events_url":"https://api.github.com/users/ros-industrial/events{/privacy}","received_events_url":"https://api.github.com/users/ros-industrial/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/ros-industrial/universal_robot","description":"ROS-Industrial universal robot meta-package. http://ros.org/wiki/universal_robot","fork":false,"url":"https://api.github.com/repos/ros-industrial/universal_robot","forks_url":"https://api.github.com/repos/ros-industrial/universal_robot/forks","keys_url":"https://api.github.com/repos/ros-industrial/universal_robot/keys{/key_id}","collaborators_url":"https://api.github.com/repos/ros-industrial/universal_robot/collaborators{/collaborator}","teams_url":"https://api.github.com/repos/ros-industrial/universal_robot/teams","hooks_url":"https://api.github.com/repos/ros-industrial/universal_robot/hooks","issue_events_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/events{/number}","events_url":"https://api.github.com/repos/ros-industrial/universal_robot/events","assignees_url":"https://api.github.com/repos/ros-industrial/universal_robot/assignees{/user}","branches_url":"https://api.github.com/repos/ros-industrial/universal_robot/branches{/branch}","tags_url":"https://api.github.com/repos/ros-industrial/universal_robot/tags","blobs_url":"https://api.github.com/repos/ros-industrial/universal_robot/git/blobs{/sha}","git_tags_url":"https://api.github.com/repos/ros-industrial/universal_robot/git/tags{/sha}","git_refs_url":"https://api.github.com/repos/ros-industrial/universal_robot/git/refs{/sha}","trees_url":"https://api.github.com/repos/ros-industrial/universal_robot/git/trees{/sha}","statuses_url":"https://api.github.com/repos/ros-industrial/universal_robot/statuses/{sha}","languages_url":"https://api.github.com/repos/ros-industrial/universal_robot/languages","stargazers_url":"https://api.github.com/repos/ros-industrial/universal_robot/stargazers","contributors_url":"https://api.github.com/repos/ros-industrial/universal_robot/contributors","subscribers_url":"https://api.github.com/repos/ros-industrial/universal_robot/subscribers","subscription_url":"https://api.github.com/repos/ros-industrial/universal_robot/subscription","commits_url":"https://api.github.com/repos/ros-industrial/universal_robot/commits{/sha}","git_commits_url":"https://api.github.com/repos/ros-industrial/universal_robot/git/commits{/sha}","comments_url":"https://api.github.com/repos/ros-industrial/universal_robot/comments{/number}","issue_comment_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues/comments{/number}","contents_url":"https://api.github.com/repos/ros-industrial/universal_robot/contents/{+path}","compare_url":"https://api.github.com/repos/ros-industrial/universal_robot/compare/{base}...{head}","merges_url":"https://api.github.com/repos/ros-industrial/universal_robot/merges","archive_url":"https://api.github.com/repos/ros-industrial/universal_robot/{archive_format}{/ref}","downloads_url":"https://api.github.com/repos/ros-industrial/universal_robot/downloads","issues_url":"https://api.github.com/repos/ros-industrial/universal_robot/issues{/number}","pulls_url":"https://api.github.com/repos/ros-industrial/universal_robot/pulls{/number}","milestones_url":"https://api.github.com/repos/ros-industrial/universal_robot/milestones{/number}","notifications_url":"https://api.github.com/repos/ros-industrial/universal_robot/notifications{?since,all,participating}","labels_url":"https://api.github.com/repos/ros-industrial/universal_robot/labels{/name}","releases_url":"https://api.github.com/repos/ros-industrial/universal_robot/releases{/id}","created_at":"2013-03-13T04:49:22Z","updated_at":"2015-02-20T10:24:05Z","pushed_at":"2015-03-12T13:44:46Z","git_url":"git://github.com/ros-industrial/universal_robot.git","ssh_url":"git@github.com:ros-industrial/universal_robot.git","clone_url":"https://github.com/ros-industrial/universal_robot.git","svn_url":"https://github.com/ros-industrial/universal_robot","homepage":"","size":22990,"stargazers_count":17,"watchers_count":17,"language":"XML","has_issues":true,"has_downloads":true,"has_wiki":true,"has_pages":false,"forks_count":73,"mirror_url":null,"open_issues_count":34,"forks":73,"open_issues":34,"watchers":17,"default_branch":"indigo-devel"}},"_links":{"self":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157"},"html":{"href":"https://github.com/ros-industrial/universal_robot/pull/157"},"issue":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/issues/157"},"comments":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/issues/157/comments"},"review_comments":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157/comments"},"review_comment":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/comments{/number}"},"commits":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/pulls/157/commits"},"statuses":{"href":"https://api.github.com/repos/ros-industrial/universal_robot/statuses/bcac4f5f3c4e4eea27b24f37b900f6da24a87e48"}},"merged":true,"mergeable":null,"mergeable_state":"unknown","merged_by":{"login":"abubeck","id":114571,"avatar_url":"https://avatars.githubusercontent.com/u/114571?v=3","gravatar_id":"","url":"https://api.github.com/users/abubeck","html_url":"https://github.com/abubeck","followers_url":"https://api.github.com/users/abubeck/followers","following_url":"https://api.github.com/users/abubeck/following{/other_user}","gists_url":"https://api.github.com/users/abubeck/gists{/gist_id}","starred_url":"https://api.github.com/users/abubeck/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/abubeck/subscriptions","organizations_url":"https://api.github.com/users/abubeck/orgs","repos_url":"https://api.github.com/users/abubeck/repos","events_url":"https://api.github.com/users/abubeck/events{/privacy}","received_events_url":"https://api.github.com/users/abubeck/received_events","type":"User","site_admin":false},"comments":3,"review_comments":0,"commits":1,"additions":1,"deletions":1,"changed_files":1}}